2021-08-14T22:17:42.588Z,1628979462.588 [CommandLine](IMPORTANT): got command restart logs
2021-08-14T22:17:43.533Z,1628979463.533 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T221744
2021-08-14T22:17:47.552Z,1628979467.552 [DataOverHttps](INFO): Received command:set LineCapture.rolloutTimeout 20 minute
2021-08-14T22:18:43.615Z,1628979523.615 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-14T22:18:43.620Z,1628979523.620 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814221841.199854,06,2083,27,0134,0150,141,01,01,01,01,3,-01,-01,2,3,1,0,150,7.1,0.49,08,2.51,-01,-4.93,54,14500,4000*53

2021-08-14T22:21:24.471Z,1628979684.471 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-14T22:21:24.471Z,1628979684.471 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-14T22:21:24.471Z,1628979684.471 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T22:21:24.472Z,1628979684.472 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-14T22:21:24.832Z,1628979684.832 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-14T22:21:24.832Z,1628979684.832 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-14T22:21:25.247Z,1628979685.247 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 9.870046 min 
2021-08-14T22:21:25.248Z,1628979685.248 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-14T22:21:25.248Z,1628979685.248 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T22:21:25.249Z,1628979685.249 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-14T22:21:25.249Z,1628979685.249 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T22:21:25.250Z,1628979685.250 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-08-14T22:21:25.250Z,1628979685.250 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-08-14T22:21:25.251Z,1628979685.251 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T22:21:25.251Z,1628979685.251 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-14T22:21:27.254Z,1628979687.254 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222128.00,A,4133.12539,N,07042.13364,W,0.486,30.20,140821,,,A*4B
2021-08-14T22:21:27.275Z,1628979687.275 [NAL9602](INFO): GPS fix at 20210814T222128: (41.552090, -70.702227)
2021-08-14T22:21:27.325Z,1628979687.325 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-14T22:21:27.325Z,1628979687.325 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-14T22:21:31.131Z,1628979691.131 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T210219/Courier0024.lzma
2021-08-14T22:21:32.134Z,1628979692.134 [DataOverHttps](INFO): Moved sent file to Logs/20210814T210219/Courier0024.lzma.bak
2021-08-14T22:21:32.134Z,1628979692.134 [DataOverHttps](INFO): SBD MOMSN=439324
2021-08-14T22:21:41.182Z,1628979701.182 [DataOverHttps](INFO): Sending 253 bytes from file Logs/20210814T221742/Courier0000.lzma
2021-08-14T22:21:42.185Z,1628979702.185 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Courier0000.lzma.bak
2021-08-14T22:21:42.186Z,1628979702.186 [DataOverHttps](INFO): SBD MOMSN=439326
2021-08-14T22:21:47.033Z,1628979707.033 [NAL9602](INFO): SBD MO Status=2, MOMSN=23972, MT Status=2, MTMSN=0
2021-08-14T22:21:47.033Z,1628979707.033 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-14T22:21:51.219Z,1628979711.219 [DataOverHttps](INFO): Sending 51 bytes from file Logs/20210814T221742/Courier0003.lzma
2021-08-14T22:21:52.227Z,1628979712.227 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Courier0003.lzma.bak
2021-08-14T22:21:52.228Z,1628979712.228 [DataOverHttps](INFO): SBD MOMSN=439330
2021-08-14T22:21:54.304Z,1628979714.304 [NAL9602](INFO): SBD MO Status=0, MOMSN=23972, MT Status=0, MTMSN=0
2021-08-14T22:21:54.304Z,1628979714.304 [NAL9602](INFO): No messages in MT queue
2021-08-14T22:22:01.268Z,1628979721.268 [DataOverHttps](INFO): Sending 96 bytes from file Logs/20210814T210219/Express0025.lzma
2021-08-14T22:22:02.265Z,1628979722.265 [DataOverHttps](INFO): Moved sent file to Logs/20210814T210219/Express0025.lzma.bak
2021-08-14T22:22:02.266Z,1628979722.266 [DataOverHttps](INFO): SBD MOMSN=439332
2021-08-14T22:22:11.301Z,1628979731.301 [DataOverHttps](INFO): Sending 395 bytes from file Logs/20210814T221742/Express0001.lzma
2021-08-14T22:22:12.304Z,1628979732.304 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Express0001.lzma.bak
2021-08-14T22:22:12.304Z,1628979732.304 [DataOverHttps](INFO): SBD MOMSN=439335
2021-08-14T22:22:21.340Z,1628979741.340 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20210814T221742/Express0004.lzma
2021-08-14T22:22:22.345Z,1628979742.345 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Express0004.lzma.bak
2021-08-14T22:22:22.346Z,1628979742.346 [DataOverHttps](INFO): SBD MOMSN=439340
2021-08-14T22:22:23.837Z,1628979743.837 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-14T22:22:23.837Z,1628979743.837 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-14T22:22:23.837Z,1628979743.837 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-14T22:22:25.007Z,1628979745.007 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T22:23:34.912Z,1628979814.912 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T22:23:34.912Z,1628979814.912 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T22:23:34.914Z,1628979814.914 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T22:23:35.310Z,1628979815.310 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814222335.198904,06,545,21,0092,0150,134,02,02,01,02,-1,-01,-01,1,3,1,0,150,-100.0,0.15,-100,2.85,-01,1.38,-2147483648,14500,4000*78

2021-08-14T22:23:44.261Z,1628979824.261 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:23:54.301Z,1628979834.301 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:24:04.409Z,1628979844.409 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:25:24.418Z,1628979924.418 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T22:25:49.435Z,1628979949.435 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:26:34.378Z,1628979994.378 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T222635
2021-08-14T22:26:38.396Z,1628979998.396 [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" 2rvng 1 2
2021-08-14T22:26:38.481Z,1628979998.481 [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" 2rvng 1 2.000000
2021-08-14T22:26:38.482Z,1628979998.482 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2rvng
2021-08-14T22:26:38.483Z,1628979998.483 [CommandLine](IMPORTANT): Scheduled #16 (#1 of 2 with id='2rvng'): "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
2021-08-14T22:26:39.398Z,1628979999.398 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T222640
2021-08-14T22:26:43.416Z,1628980003.416 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2rvng 2 2
2021-08-14T22:26:43.481Z,1628980003.481 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2rvng 2 2.000000
2021-08-14T22:26:43.482Z,1628980003.482 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2rvng
2021-08-14T22:26:43.483Z,1628980003.483 [CommandLine](IMPORTANT): Scheduled #17 (#2 of 2 with id='2rvng'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-14T22:26:43.660Z,1628980003.660 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T22:26:43.661Z,1628980003.661 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T22:26:43.770Z,1628980003.770 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-14T22:26:43.773Z,1628980003.773 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-14T22:26:43.775Z,1628980003.775 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-14T22:26:43.778Z,1628980003.778 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-14T22:26:43.780Z,1628980003.780 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-14T22:26:43.783Z,1628980003.783 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-14T22:26:43.787Z,1628980003.787 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-14T22:26:43.790Z,1628980003.790 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-14T22:26:43.793Z,1628980003.793 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-14T22:26:43.795Z,1628980003.795 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-14T22:26:43.826Z,1628980003.826 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-14T22:26:43.833Z,1628980003.833 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-14T22:26:43.835Z,1628980003.835 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-14T22:26:43.846Z,1628980003.846 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-14T22:26:43.849Z,1628980003.849 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-14T22:26:43.849Z,1628980003.849 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-14T22:26:44.179Z,1628980004.179 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-14T22:26:44.186Z,1628980004.186 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-14T22:26:44.199Z,1628980004.199 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-14T22:26:44.206Z,1628980004.206 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-14T22:26:44.213Z,1628980004.213 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-14T22:26:44.246Z,1628980004.246 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-14T22:26:44.270Z,1628980004.270 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-14T22:26:44.282Z,1628980004.282 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-14T22:26:44.301Z,1628980004.301 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-14T22:26:44.303Z,1628980004.303 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-14T22:26:44.330Z,1628980004.330 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-14T22:26:44.335Z,1628980004.335 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-14T22:26:44.345Z,1628980004.345 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-14T22:26:44.347Z,1628980004.347 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-14T22:26:44.355Z,1628980004.355 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-14T22:26:44.394Z,1628980004.394 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-14T22:26:44.404Z,1628980004.404 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-14T22:26:44.407Z,1628980004.407 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-14T22:26:44.432Z,1628980004.432 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-14T22:26:44.435Z,1628980004.435 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-14T22:26:44.446Z,1628980004.446 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-14T22:26:44.456Z,1628980004.456 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-14T22:26:44.458Z,1628980004.458 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-14T22:26:44.469Z,1628980004.469 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-14T22:26:44.471Z,1628980004.471 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-14T22:26:44.492Z,1628980004.492 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-14T22:26:44.495Z,1628980004.495 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-14T22:26:44.506Z,1628980004.506 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-14T22:26:44.517Z,1628980004.517 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-14T22:26:44.528Z,1628980004.528 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-14T22:26:44.531Z,1628980004.531 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-14T22:26:44.537Z,1628980004.537 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-14T22:26:44.548Z,1628980004.548 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-14T22:26:44.551Z,1628980004.551 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-14T22:26:44.557Z,1628980004.557 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-14T22:26:44.564Z,1628980004.564 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-14T22:26:44.569Z,1628980004.569 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-14T22:26:44.573Z,1628980004.573 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-14T22:26:44.575Z,1628980004.575 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-14T22:26:44.582Z,1628980004.582 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-14T22:26:44.587Z,1628980004.587 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-14T22:26:44.602Z,1628980004.602 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-14T22:26:44.609Z,1628980004.609 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-14T22:26:44.612Z,1628980004.612 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-14T22:26:44.621Z,1628980004.621 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-14T22:26:44.628Z,1628980004.628 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-14T22:26:44.631Z,1628980004.631 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-14T22:26:44.637Z,1628980004.637 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-14T22:26:44.644Z,1628980004.644 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-14T22:26:44.646Z,1628980004.646 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-14T22:26:44.649Z,1628980004.649 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-14T22:26:44.660Z,1628980004.660 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-14T22:26:44.663Z,1628980004.663 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-14T22:26:44.669Z,1628980004.669 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-14T22:26:44.676Z,1628980004.676 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-14T22:26:44.679Z,1628980004.679 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-14T22:26:44.686Z,1628980004.686 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-14T22:26:44.693Z,1628980004.693 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-14T22:26:44.697Z,1628980004.697 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-14T22:26:44.708Z,1628980004.708 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-14T22:26:44.711Z,1628980004.711 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-14T22:26:44.717Z,1628980004.717 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-14T22:26:44.723Z,1628980004.723 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-14T22:26:44.738Z,1628980004.738 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-14T22:26:44.807Z,1628980004.807 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T22:26:44.863Z,1628980004.863 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T22:26:44.897Z,1628980004.897 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T22:26:44.907Z,1628980004.907 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T22:26:44.953Z,1628980004.953 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T22:26:44.985Z,1628980004.985 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T22:26:45.013Z,1628980005.013 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T22:26:45.038Z,1628980005.038 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T22:26:45.070Z,1628980005.070 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-14T22:26:45.103Z,1628980005.103 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-14T22:26:45.105Z,1628980005.105 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-14T22:26:45.116Z,1628980005.116 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-14T22:26:45.117Z,1628980005.117 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-14T22:26:45.125Z,1628980005.125 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-14T22:26:45.141Z,1628980005.141 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-14T22:26:45.202Z,1628980005.202 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-14T22:26:45.309Z,1628980005.309 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-14T22:26:45.320Z,1628980005.320 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-14T22:26:45.322Z,1628980005.322 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-14T22:26:45.326Z,1628980005.326 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-14T22:26:45.336Z,1628980005.336 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-14T22:26:45.339Z,1628980005.339 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-14T22:26:45.341Z,1628980005.341 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-14T22:26:45.356Z,1628980005.356 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-14T22:26:45.392Z,1628980005.392 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-14T22:26:45.426Z,1628980005.426 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-14T22:26:45.433Z,1628980005.433 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-14T22:26:45.446Z,1628980005.446 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-14T22:26:45.482Z,1628980005.482 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-14T22:26:45.721Z,1628980005.721 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-14T22:26:45.724Z,1628980005.724 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-14T22:26:45.726Z,1628980005.726 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-14T22:26:45.729Z,1628980005.729 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-14T22:26:45.732Z,1628980005.732 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-14T22:26:45.735Z,1628980005.735 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-14T22:26:45.737Z,1628980005.737 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-14T22:26:45.740Z,1628980005.740 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-14T22:26:45.743Z,1628980005.743 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-14T22:26:45.770Z,1628980005.770 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-14T22:26:45.776Z,1628980005.776 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-14T22:26:45.778Z,1628980005.778 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-14T22:26:45.786Z,1628980005.786 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-14T22:26:45.797Z,1628980005.797 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-14T22:26:45.799Z,1628980005.799 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-14T22:26:45.812Z,1628980005.812 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-14T22:26:45.814Z,1628980005.814 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-14T22:26:45.817Z,1628980005.817 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-14T22:26:45.832Z,1628980005.832 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-14T22:26:45.834Z,1628980005.834 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-14T22:26:45.894Z,1628980005.894 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-14T22:26:45.941Z,1628980005.941 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-14T22:26:45.943Z,1628980005.943 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-14T22:26:45.955Z,1628980005.955 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-14T22:26:45.959Z,1628980005.959 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-14T22:26:46.006Z,1628980006.006 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-14T22:26:46.015Z,1628980006.015 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-14T22:26:46.067Z,1628980006.067 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-14T22:26:46.074Z,1628980006.074 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-14T22:26:46.081Z,1628980006.081 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-14T22:26:46.082Z,1628980006.082 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-14T22:26:46.095Z,1628980006.095 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-14T22:26:46.111Z,1628980006.111 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-14T22:26:46.154Z,1628980006.154 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-14T22:26:46.160Z,1628980006.160 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-14T22:26:46.223Z,1628980006.223 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-14T22:26:46.223Z,1628980006.223 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T22:26:46.274Z,1628980006.274 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-14T22:26:46.280Z,1628980006.280 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-14T22:26:46.285Z,1628980006.285 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-14T22:26:46.296Z,1628980006.296 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-14T22:26:46.302Z,1628980006.302 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-14T22:26:46.313Z,1628980006.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-14T22:26:46.321Z,1628980006.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-14T22:26:46.342Z,1628980006.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T22:26:46.343Z,1628980006.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T22:26:46.346Z,1628980006.346 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-14T22:26:46.354Z,1628980006.354 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-14T22:26:46.413Z,1628980006.413 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-14T22:26:46.416Z,1628980006.416 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-14T22:26:46.418Z,1628980006.418 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-14T22:26:46.449Z,1628980006.449 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-14T22:26:46.463Z,1628980006.463 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-14T22:26:46.553Z,1628980006.553 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-14T22:26:46.553Z,1628980006.553 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-14T22:26:46.575Z,1628980006.575 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-14T22:26:46.575Z,1628980006.575 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T22:26:46.642Z,1628980006.642 [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>


2021-08-14T22:26:46.642Z,1628980006.642 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T22:27:00.146Z,1628980020.146 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 60.000000 minute
2021-08-14T22:27:00.147Z,1628980020.147 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-14T22:27:00.147Z,1628980020.147 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-14T22:27:00.152Z,1628980020.152 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-14T22:27:06.425Z,1628980026.425 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-14T22:27:06.426Z,1628980026.426 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-14T22:27:06.426Z,1628980026.426 [CommandLine](IMPORTANT): got command run
2021-08-14T22:27:06.428Z,1628980026.428 [CommandLine](IMPORTANT): Running 
2021-08-14T22:27:06.631Z,1628980026.631 [DefaultWithUndock] Stopped
2021-08-14T22:27:06.631Z,1628980026.631 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-14T22:27:06.631Z,1628980026.631 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-14T22:27:06.631Z,1628980026.631 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-14T22:27:06.632Z,1628980026.632 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-14T22:27:06.632Z,1628980026.632 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-14T22:27:06.632Z,1628980026.632 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-14T22:27:06.632Z,1628980026.632 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T22:27:06.632Z,1628980026.632 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-14T22:27:06.633Z,1628980026.633 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T22:27:06.633Z,1628980026.633 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-14T22:27:06.633Z,1628980026.633 [lineCaptureDepth] Running Loop=1
2021-08-14T22:27:06.633Z,1628980026.633 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-14T22:27:06.633Z,1628980026.633 [lineCaptureDepth:Science] Running Loop=1
2021-08-14T22:27:06.633Z,1628980026.633 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-14T22:27:06.634Z,1628980026.634 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-14T22:27:06.634Z,1628980026.634 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-14T22:27:06.634Z,1628980026.634 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-14T22:27:06.634Z,1628980026.634 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-14T22:27:06.634Z,1628980026.634 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-14T22:27:06.634Z,1628980026.634 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-14T22:27:06.634Z,1628980026.634 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-14T22:27:06.634Z,1628980026.634 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-14T22:27:06.634Z,1628980026.634 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-14T22:27:06.634Z,1628980026.634 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T22:27:06.634Z,1628980026.634 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T22:27:06.636Z,1628980026.636 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-14T22:27:06.636Z,1628980026.636 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-14T22:27:06.636Z,1628980026.636 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T22:27:06.636Z,1628980026.636 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T22:27:06.637Z,1628980026.637 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-14T22:27:06.637Z,1628980026.637 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-14T22:27:06.637Z,1628980026.637 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T22:27:06.637Z,1628980026.637 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T22:27:06.639Z,1628980026.639 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-14T22:27:06.639Z,1628980026.639 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-14T22:27:06.639Z,1628980026.639 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T22:27:06.639Z,1628980026.639 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T22:27:06.640Z,1628980026.640 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-14T22:27:06.640Z,1628980026.640 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-14T22:27:06.641Z,1628980026.641 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T22:27:06.641Z,1628980026.641 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T22:27:06.641Z,1628980026.641 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-14T22:27:06.641Z,1628980026.641 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-14T22:27:06.641Z,1628980026.641 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T22:27:06.642Z,1628980026.642 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T22:27:06.643Z,1628980026.643 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-14T22:27:06.643Z,1628980026.643 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-14T22:27:06.643Z,1628980026.643 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T22:27:06.643Z,1628980026.643 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T22:27:06.645Z,1628980026.645 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-14T22:27:06.645Z,1628980026.645 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-14T22:27:06.645Z,1628980026.645 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T22:27:06.645Z,1628980026.645 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T22:27:06.646Z,1628980026.646 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-14T22:27:06.646Z,1628980026.646 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-14T22:27:06.646Z,1628980026.646 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-14T22:27:06.646Z,1628980026.646 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-14T22:27:06.646Z,1628980026.646 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-14T22:27:06.646Z,1628980026.646 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-14T22:27:06.647Z,1628980026.647 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T22:27:06.647Z,1628980026.647 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T22:27:06.647Z,1628980026.647 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T22:27:06.647Z,1628980026.647 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T22:27:06.647Z,1628980026.647 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T22:27:06.647Z,1628980026.647 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T22:27:06.647Z,1628980026.647 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T22:27:06.647Z,1628980026.647 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T22:27:06.664Z,1628980026.664 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T22:27:06.664Z,1628980026.664 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T22:27:06.664Z,1628980026.664 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T22:27:06.664Z,1628980026.664 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-14T22:27:06.664Z,1628980026.664 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-14T22:27:06.665Z,1628980026.665 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T22:27:06.665Z,1628980026.665 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T22:27:06.665Z,1628980026.665 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-14T22:27:06.665Z,1628980026.665 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T22:27:06.665Z,1628980026.665 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T22:27:06.665Z,1628980026.665 [lineCaptureDepth:C] Running Loop=1
2021-08-14T22:27:06.667Z,1628980026.667 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T22:27:06.667Z,1628980026.667 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T22:27:06.667Z,1628980026.667 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-14T22:27:06.667Z,1628980026.667 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T22:27:06.667Z,1628980026.667 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-14T22:27:06.667Z,1628980026.667 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-14T22:27:06.672Z,1628980026.672 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T22:27:06.672Z,1628980026.672 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T22:27:06.672Z,1628980026.672 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T22:27:06.672Z,1628980026.672 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T22:27:06.672Z,1628980026.672 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T22:27:06.673Z,1628980026.673 [lineCaptureDepth:C] Stopped
2021-08-14T22:27:06.673Z,1628980026.673 [lineCaptureDepth:D] Running Loop=1
2021-08-14T22:27:06.673Z,1628980026.673 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-14T22:27:06.673Z,1628980026.673 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T22:27:06.673Z,1628980026.673 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T22:27:06.674Z,1628980026.674 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T22:27:06.674Z,1628980026.674 [lineCaptureDepth:Science] Running Loop=1
2021-08-14T22:27:06.675Z,1628980026.675 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-14T22:27:06.675Z,1628980026.675 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-14T22:27:06.675Z,1628980026.675 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T22:27:06.675Z,1628980026.675 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T22:27:06.680Z,1628980026.680 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-14T22:27:06.680Z,1628980026.680 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-14T22:27:06.680Z,1628980026.680 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-14T22:27:06.680Z,1628980026.680 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T22:27:06.680Z,1628980026.680 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-14T22:27:06.680Z,1628980026.680 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-14T22:27:06.680Z,1628980026.680 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-14T22:27:06.681Z,1628980026.681 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T22:27:06.681Z,1628980026.681 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-14T22:27:06.681Z,1628980026.681 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-14T22:27:06.681Z,1628980026.681 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T22:27:06.681Z,1628980026.681 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T22:27:06.681Z,1628980026.681 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-14T22:27:06.681Z,1628980026.681 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-14T22:27:06.681Z,1628980026.681 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-14T22:27:06.681Z,1628980026.681 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T22:27:06.681Z,1628980026.681 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-14T22:27:06.682Z,1628980026.682 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-14T22:27:06.682Z,1628980026.682 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-14T22:27:06.682Z,1628980026.682 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T22:27:06.682Z,1628980026.682 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-14T22:27:06.682Z,1628980026.682 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-14T22:27:06.682Z,1628980026.682 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T22:27:06.682Z,1628980026.682 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T22:27:06.682Z,1628980026.682 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-14T22:27:06.682Z,1628980026.682 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-14T22:27:06.682Z,1628980026.682 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-14T22:27:06.683Z,1628980026.683 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T22:27:06.683Z,1628980026.683 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-14T22:27:06.688Z,1628980026.688 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-14T22:27:06.689Z,1628980026.689 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-14T22:27:06.689Z,1628980026.689 [lineCaptureDepth:Science:F] Stopped
2021-08-14T22:27:06.689Z,1628980026.689 [lineCaptureDepth:Science:E] Stopped
2021-08-14T22:27:06.689Z,1628980026.689 [lineCaptureDepth:Science:D] Stopped
2021-08-14T22:27:06.689Z,1628980026.689 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-14T22:27:06.690Z,1628980026.690 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-14T22:27:06.690Z,1628980026.690 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-14T22:27:06.690Z,1628980026.690 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-14T22:27:06.691Z,1628980026.691 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-14T22:27:06.691Z,1628980026.691 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-14T22:27:06.691Z,1628980026.691 [lineCaptureDepth:Science:A] Stopped
2021-08-14T22:27:06.838Z,1628980026.838 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-14T22:27:07.010Z,1628980027.010 [lineCaptureDepth:D] Stopped
2021-08-14T22:27:07.010Z,1628980027.010 [lineCaptureDepth:E] Running Loop=1
2021-08-14T22:27:07.418Z,1628980027.418 [lineCaptureDepth:E] Stopped
2021-08-14T22:27:07.418Z,1628980027.418 [lineCaptureDepth:G] Running Loop=1
2021-08-14T22:27:07.831Z,1628980027.831 [lineCaptureDepth:G] Stopped
2021-08-14T22:27:07.831Z,1628980027.831 [lineCaptureDepth:H] Running Loop=1
2021-08-14T22:27:08.266Z,1628980028.266 [lineCaptureDepth:H] Stopped
2021-08-14T22:27:08.267Z,1628980028.267 [lineCaptureDepth:J] Running Loop=1
2021-08-14T22:27:08.661Z,1628980028.661 [lineCaptureDepth:J] Stopped
2021-08-14T22:27:08.661Z,1628980028.661 [lineCaptureDepth:M] Running Loop=1
2021-08-14T22:27:09.041Z,1628980029.041 [lineCaptureDepth:M] Stopped
2021-08-14T22:27:09.041Z,1628980029.041 [lineCaptureDepth:N] Running Loop=1
2021-08-14T22:27:09.450Z,1628980029.450 [lineCaptureDepth:N] Stopped
2021-08-14T22:27:09.450Z,1628980029.450 [lineCaptureDepth:O] Running Loop=1
2021-08-14T22:27:09.451Z,1628980029.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:27:09.773Z,1628980029.773 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-14T22:27:09.825Z,1628980029.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:27:09.825Z,1628980029.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:27:09.825Z,1628980029.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:27:09.826Z,1628980029.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:27:09.907Z,1628980029.907 [lineCaptureDepth:O] Stopped
2021-08-14T22:27:09.907Z,1628980029.907 [lineCaptureDepth:Lap] Running Loop=1
2021-08-14T22:27:09.907Z,1628980029.907 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-14T22:27:09.912Z,1628980029.912 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-14T22:27:10.263Z,1628980030.263 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
295,000,01B9F,189,80,80,4F,FF
2021-08-14T22:27:10.263Z,1628980030.263 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:27:10.264Z,1628980030.264 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:27:10.278Z,1628980030.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:27:10.455Z,1628980030.455 [lineCaptureDepth:Lap:A] Stopped
2021-08-14T22:27:10.456Z,1628980030.456 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-14T22:27:10.456Z,1628980030.456 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-14T22:27:10.638Z,1628980030.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:27:10.669Z,1628980030.669 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-14T22:27:10.669Z,1628980030.669 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-14T22:27:10.669Z,1628980030.669 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T22:27:10.669Z,1628980030.669 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T22:27:10.669Z,1628980030.669 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T22:27:10.669Z,1628980030.669 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T22:27:10.670Z,1628980030.670 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T22:27:10.670Z,1628980030.670 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T22:27:10.670Z,1628980030.670 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T22:27:10.670Z,1628980030.670 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T22:27:10.670Z,1628980030.670 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T22:27:10.670Z,1628980030.670 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T22:27:10.670Z,1628980030.670 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T22:27:10.670Z,1628980030.670 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T22:27:10.670Z,1628980030.670 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T22:27:10.670Z,1628980030.670 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T22:27:10.671Z,1628980030.671 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T22:27:10.671Z,1628980030.671 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T22:27:10.671Z,1628980030.671 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T22:27:10.671Z,1628980030.671 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-14T22:27:10.671Z,1628980030.671 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T22:27:10.671Z,1628980030.671 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T22:27:10.671Z,1628980030.671 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T22:27:10.672Z,1628980030.672 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T22:27:10.672Z,1628980030.672 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T22:27:10.673Z,1628980030.673 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T22:27:10.673Z,1628980030.673 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T22:27:10.673Z,1628980030.673 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T22:27:10.673Z,1628980030.673 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T22:27:10.673Z,1628980030.673 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T22:27:10.673Z,1628980030.673 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T22:27:10.674Z,1628980030.674 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T22:27:10.674Z,1628980030.674 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T22:27:10.675Z,1628980030.675 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-14T22:27:10.675Z,1628980030.675 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-14T22:27:11.052Z,1628980031.052 [Micromodem](INFO): Nmea in: $SNTTA,0.158564,0.158564,,,222711.39*51

2021-08-14T22:27:11.108Z,1628980031.108 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-14T22:27:11.108Z,1628980031.108 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-14T22:27:11.446Z,1628980031.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,01EB6,189,80,80,4F,FF
2021-08-14T22:27:11.447Z,1628980031.447 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:27:11.479Z,1628980031.479 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-14T22:27:11.479Z,1628980031.479 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-14T22:27:11.917Z,1628980031.917 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-14T22:27:11.917Z,1628980031.917 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-14T22:27:12.366Z,1628980032.366 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-14T22:27:12.366Z,1628980032.366 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-14T22:27:12.366Z,1628980032.366 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T22:27:12.366Z,1628980032.366 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T22:27:12.367Z,1628980032.367 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T22:27:12.367Z,1628980032.367 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-14T22:27:12.367Z,1628980032.367 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T22:27:12.367Z,1628980032.367 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-14T22:27:12.367Z,1628980032.367 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-14T22:27:12.367Z,1628980032.367 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T22:27:12.376Z,1628980032.376 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T22:27:12.376Z,1628980032.376 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T22:27:12.376Z,1628980032.376 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T22:27:12.376Z,1628980032.376 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T22:27:12.376Z,1628980032.376 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T22:27:12.376Z,1628980032.376 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T22:27:12.377Z,1628980032.377 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T22:27:12.377Z,1628980032.377 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T22:27:12.377Z,1628980032.377 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T22:27:12.377Z,1628980032.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T22:27:12.377Z,1628980032.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T22:27:12.377Z,1628980032.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T22:27:12.378Z,1628980032.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T22:27:12.378Z,1628980032.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T22:27:12.378Z,1628980032.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T22:27:12.378Z,1628980032.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T22:27:12.378Z,1628980032.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T22:27:12.378Z,1628980032.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T22:27:12.707Z,1628980032.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T22:27:12.707Z,1628980032.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T22:27:12.707Z,1628980032.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T22:27:12.708Z,1628980032.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T22:27:12.708Z,1628980032.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T22:27:12.708Z,1628980032.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T22:27:12.708Z,1628980032.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T22:27:12.708Z,1628980032.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T22:27:12.709Z,1628980032.709 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T22:27:12.709Z,1628980032.709 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T22:27:12.709Z,1628980032.709 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T22:27:12.709Z,1628980032.709 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T22:27:12.710Z,1628980032.710 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T22:27:12.710Z,1628980032.710 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T22:27:12.710Z,1628980032.710 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T22:27:12.710Z,1628980032.710 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T22:27:12.710Z,1628980032.710 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T22:27:13.073Z,1628980033.073 [PowerOnly](INFO): Powering up loadControl
2021-08-14T22:27:14.443Z,1628980034.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:27:14.705Z,1628980034.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:27:14.705Z,1628980034.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:27:14.705Z,1628980034.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:27:14.706Z,1628980034.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:27:15.111Z,1628980035.111 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,01EB6,189,80,80,4F,FF
2021-08-14T22:27:15.111Z,1628980035.111 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:27:15.112Z,1628980035.112 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:27:15.114Z,1628980035.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:27:15.553Z,1628980035.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:27:15.587Z,1628980035.587 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-14T22:27:15.949Z,1628980035.949 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T22:27:16.339Z,1628980036.339 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,01EB5,184,80,80,59,FF
2021-08-14T22:27:16.339Z,1628980036.339 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:27:16.344Z,1628980036.344 [Micromodem](INFO): Nmea in: $SNTTA,0.475948,0.475642,,,222716.23*58

2021-08-14T22:27:19.225Z,1628980039.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:27:19.562Z,1628980039.562 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:27:19.562Z,1628980039.562 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:27:19.562Z,1628980039.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:27:19.563Z,1628980039.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:27:19.959Z,1628980039.959 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,01EB5,184,80,80,59,FF
2021-08-14T22:27:19.959Z,1628980039.959 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:27:19.959Z,1628980039.959 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:27:19.962Z,1628980039.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:27:20.405Z,1628980040.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:27:21.201Z,1628980041.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B6,000,01EB1,186,80,80,67,FF
2021-08-14T22:27:21.201Z,1628980041.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:27:21.204Z,1628980041.204 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222721.08*50

2021-08-14T22:27:24.048Z,1628980044.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:27:24.048Z,1628980044.048 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T22:27:24.048Z,1628980044.048 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T22:27:24.049Z,1628980044.049 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T22:27:24.049Z,1628980044.049 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T22:27:24.049Z,1628980044.049 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T22:27:24.050Z,1628980044.050 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T22:27:24.051Z,1628980044.051 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-14T22:27:24.481Z,1628980044.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:27:24.481Z,1628980044.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:27:24.481Z,1628980044.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:27:24.482Z,1628980044.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:27:24.551Z,1628980044.551 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T22:27:24.551Z,1628980044.551 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T22:27:24.568Z,1628980044.568 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T22:27:24.568Z,1628980044.568 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T22:27:24.569Z,1628980044.569 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T22:27:24.891Z,1628980044.891 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B6,000,01EB1,186,80,80,67,FF
2021-08-14T22:27:24.891Z,1628980044.891 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:27:24.892Z,1628980044.892 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:27:24.894Z,1628980044.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:27:25.289Z,1628980045.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:27:26.110Z,1628980046.110 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222726.01*5E

2021-08-14T22:27:26.564Z,1628980046.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:27:28.517Z,1628980048.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,67,FF
2021-08-14T22:27:28.517Z,1628980048.517 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,67,FF
2021-08-14T22:27:28.517Z,1628980048.517 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:27:29.390Z,1628980049.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:27:29.738Z,1628980049.738 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:27:29.738Z,1628980049.738 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:27:29.738Z,1628980049.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:27:29.739Z,1628980049.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:27:30.126Z,1628980050.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,67,FF
2021-08-14T22:27:30.126Z,1628980050.126 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:27:30.126Z,1628980050.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:27:30.127Z,1628980050.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:27:30.543Z,1628980050.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:27:30.589Z,1628980050.589 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T22:27:30.593Z,1628980050.593 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:27:31.390Z,1628980051.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222731.24*5F

2021-08-14T22:27:32.233Z,1628980052.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:27:33.766Z,1628980053.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,67,FF
2021-08-14T22:27:33.766Z,1628980053.766 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,67,FF
2021-08-14T22:27:33.766Z,1628980053.766 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:27:35.011Z,1628980055.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:27:35.418Z,1628980055.418 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:27:35.418Z,1628980055.418 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:27:35.418Z,1628980055.418 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:27:35.419Z,1628980055.419 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:27:35.797Z,1628980055.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,67,FF
2021-08-14T22:27:35.797Z,1628980055.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:27:35.797Z,1628980055.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:27:35.799Z,1628980055.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:27:36.231Z,1628980056.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:27:36.304Z,1628980056.304 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 433.92 m. Transitioning DDM to standby.
2021-08-14T22:27:37.038Z,1628980057.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C09,000,01EA2,189,80,80,5E,FF
2021-08-14T22:27:37.039Z,1628980057.039 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:27:37.043Z,1628980057.043 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222736.91*56

2021-08-14T22:27:39.076Z,1628980059.076 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-14T22:27:39.510Z,1628980059.510 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T22:27:39.510Z,1628980059.510 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-14T22:27:39.510Z,1628980059.510 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-14T22:27:39.822Z,1628980059.822 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-14T22:27:39.822Z,1628980059.822 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-14T22:27:39.822Z,1628980059.822 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-14T22:27:39.823Z,1628980059.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:27:40.261Z,1628980060.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:27:40.261Z,1628980060.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:27:40.261Z,1628980060.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:27:40.262Z,1628980060.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:27:40.412Z,1628980060.412 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-14T22:27:40.412Z,1628980060.412 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T22:27:40.412Z,1628980060.412 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-14T22:27:40.412Z,1628980060.412 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T22:27:40.412Z,1628980060.412 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T22:27:40.613Z,1628980060.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C09,000,01EA2,189,80,80,5E,FF
2021-08-14T22:27:40.613Z,1628980060.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:27:40.613Z,1628980060.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:27:40.615Z,1628980060.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:27:40.732Z,1628980060.732 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T22:27:40.732Z,1628980060.732 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T22:27:40.732Z,1628980060.732 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T22:27:40.732Z,1628980060.732 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T22:27:40.733Z,1628980060.733 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T22:27:40.733Z,1628980060.733 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T22:27:40.733Z,1628980060.733 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T22:27:40.733Z,1628980060.733 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T22:27:40.733Z,1628980060.733 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T22:27:40.733Z,1628980060.733 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T22:27:40.734Z,1628980060.734 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T22:27:40.734Z,1628980060.734 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T22:27:40.734Z,1628980060.734 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-14T22:27:40.735Z,1628980060.735 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T22:27:40.735Z,1628980060.735 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-14T22:27:40.736Z,1628980060.736 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 433.019989 m 
2021-08-14T22:27:40.736Z,1628980060.736 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-14T22:27:40.736Z,1628980060.736 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-14T22:27:40.737Z,1628980060.737 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-14T22:27:40.737Z,1628980060.737 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T22:27:40.738Z,1628980060.738 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-14T22:27:40.738Z,1628980060.738 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-14T22:27:41.017Z,1628980061.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:27:41.083Z,1628980061.083 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-14T22:27:41.088Z,1628980061.088 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T22:27:41.088Z,1628980061.088 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-14T22:27:41.088Z,1628980061.088 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T22:27:41.088Z,1628980061.088 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T22:27:41.088Z,1628980061.088 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T22:27:41.089Z,1628980061.089 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T22:27:41.089Z,1628980061.089 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T22:27:41.089Z,1628980061.089 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T22:27:41.089Z,1628980061.089 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T22:27:41.089Z,1628980061.089 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T22:27:41.089Z,1628980061.089 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T22:27:41.089Z,1628980061.089 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T22:27:41.090Z,1628980061.090 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T22:27:41.090Z,1628980061.090 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T22:27:41.465Z,1628980061.465 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T22:27:41.465Z,1628980061.465 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T22:27:41.465Z,1628980061.465 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T22:27:41.466Z,1628980061.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T22:27:41.466Z,1628980061.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T22:27:41.466Z,1628980061.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T22:27:41.466Z,1628980061.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T22:27:41.467Z,1628980061.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T22:27:41.467Z,1628980061.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T22:27:41.467Z,1628980061.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T22:27:41.467Z,1628980061.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T22:27:41.467Z,1628980061.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T22:27:41.467Z,1628980061.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T22:27:41.467Z,1628980061.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T22:27:41.472Z,1628980061.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T22:27:41.472Z,1628980061.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T22:27:41.473Z,1628980061.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-14T22:27:41.473Z,1628980061.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T22:27:41.473Z,1628980061.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-14T22:27:41.473Z,1628980061.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-14T22:27:41.473Z,1628980061.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T22:27:41.473Z,1628980061.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T22:27:41.474Z,1628980061.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 420.00 sec.
2021-08-14T22:27:41.474Z,1628980061.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T22:27:41.475Z,1628980061.475 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T22:27:41.475Z,1628980061.475 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T22:27:41.475Z,1628980061.475 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T22:27:41.475Z,1628980061.475 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T22:27:41.475Z,1628980061.475 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T22:27:41.475Z,1628980061.475 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T22:27:41.475Z,1628980061.475 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T22:27:41.475Z,1628980061.475 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-14T22:27:41.476Z,1628980061.476 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-14T22:27:41.837Z,1628980061.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,01EA1,189,80,80,A5,FF
2021-08-14T22:27:41.837Z,1628980061.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:27:41.840Z,1628980061.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222741.73*5A

2021-08-14T22:27:41.857Z,1628980061.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 433.019989 m, bearing: 273.752944 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T22:27:41.858Z,1628980061.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 273.752944deg and heading rate command to 0 deg/s.
2021-08-14T22:27:42.292Z,1628980062.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 432.959991 m, bearing: 278.135138 deg, deltaT: 4.783683 s, approachRate: -0.012542 m/s, LOS rate: 0.916071 deg/s, posRepo size: 2
2021-08-14T22:27:42.293Z,1628980062.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 0.916071 deg/s. Setting heading cmd to target bearing of 278.135138deg and heading rate command to 0 deg/s.
2021-08-14T22:27:44.414Z,1628980064.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:27:44.689Z,1628980064.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:27:44.689Z,1628980064.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:27:44.689Z,1628980064.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:27:44.690Z,1628980064.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:27:45.089Z,1628980065.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,01EA1,189,80,80,A5,FF
2021-08-14T22:27:45.089Z,1628980065.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:27:45.090Z,1628980065.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:27:45.091Z,1628980065.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:27:45.512Z,1628980065.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:27:46.346Z,1628980066.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D57,000,01EA1,18A,80,80,A2,FF
2021-08-14T22:27:46.347Z,1628980066.347 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:27:46.351Z,1628980066.351 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222746.21*5A

2021-08-14T22:27:46.805Z,1628980066.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 432.959991 m, bearing: 291.496245 deg, deltaT: 4.551222 s, approachRate: 0.000000 m/s, LOS rate: 2.935719 deg/s, posRepo size: 3
2021-08-14T22:27:46.819Z,1628980066.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 432.959991 m,
      bearing: 291.496245 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.935719 deg/s,
      cmd update: 11.742874 deg/s,
      cmd heading: 278.135138 deg,
      new cmd heading: 278.135138 deg.

2021-08-14T22:27:47.956Z,1628980067.956 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T22:27:49.156Z,1628980069.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:27:49.545Z,1628980069.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:27:49.545Z,1628980069.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:27:49.545Z,1628980069.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:27:49.546Z,1628980069.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:27:49.941Z,1628980069.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D57,000,01EA1,18A,80,80,A2,FF
2021-08-14T22:27:49.941Z,1628980069.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:27:49.942Z,1628980069.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:27:49.943Z,1628980069.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:27:50.359Z,1628980070.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:27:51.197Z,1628980071.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D88,000,01E91,189,80,80,94,FF
2021-08-14T22:27:51.198Z,1628980071.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:27:51.201Z,1628980071.201 [Micromodem](INFO): Nmea in: $SNTTA,0.290115,,,,222751.06*49

2021-08-14T22:27:51.597Z,1628980071.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 431.999969 m, bearing: 294.172942 deg, deltaT: 4.850779 s, approachRate: -0.197911 m/s, LOS rate: 0.551808 deg/s, posRepo size: 4
2021-08-14T22:27:51.599Z,1628980071.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 431.999969 m,
      bearing: 294.172942 deg,
      approachRate: -0.197911 m/s,
      LOS rate: 0.551808 deg/s,
      cmd update: 2.207230 deg/s,
      cmd heading: 334.956477 deg,
      new cmd heading: 339.062232 deg.

2021-08-14T22:27:54.123Z,1628980074.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:27:54.461Z,1628980074.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:27:54.461Z,1628980074.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:27:54.461Z,1628980074.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:27:54.462Z,1628980074.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:27:54.871Z,1628980074.871 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D88,000,01E91,189,80,80,94,FF
2021-08-14T22:27:54.871Z,1628980074.871 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:27:54.872Z,1628980074.872 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:27:54.874Z,1628980074.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:27:55.357Z,1628980075.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:27:56.149Z,1628980076.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,01E72,188,80,80,92,FF
2021-08-14T22:27:56.150Z,1628980076.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:27:56.152Z,1628980076.152 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222755.99*5B

2021-08-14T22:27:56.626Z,1628980076.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 430.140015 m, bearing: 285.644166 deg, deltaT: 4.999435 s, approachRate: -0.372033 m/s, LOS rate: -1.705948 deg/s, posRepo size: 4
2021-08-14T22:27:56.628Z,1628980076.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 430.140015 m,
      bearing: 285.644166 deg,
      approachRate: -0.372033 m/s,
      LOS rate: -1.705948 deg/s,
      cmd update: -6.823791 deg/s,
      cmd heading: 345.994800 deg,
      new cmd heading: 346.827299 deg.

2021-08-14T22:27:59.073Z,1628980079.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:27:59.413Z,1628980079.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:27:59.413Z,1628980079.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:27:59.413Z,1628980079.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:27:59.414Z,1628980079.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:27:59.809Z,1628980079.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,01E72,188,80,80,92,FF
2021-08-14T22:27:59.809Z,1628980079.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:27:59.809Z,1628980079.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:27:59.811Z,1628980079.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:28:00.232Z,1628980080.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:28:01.027Z,1628980081.027 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D74,000,01E4F,189,80,80,6F,FF
2021-08-14T22:28:01.029Z,1628980081.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:28:01.039Z,1628980081.039 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222800.93*5E

2021-08-14T22:28:01.445Z,1628980081.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 428.040009 m, bearing: 287.372286 deg, deltaT: 4.863660 s, approachRate: -0.431775 m/s, LOS rate: 0.355313 deg/s, posRepo size: 4
2021-08-14T22:28:01.447Z,1628980081.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 428.040009 m,
      bearing: 287.372286 deg,
      approachRate: -0.431775 m/s,
      LOS rate: 0.355313 deg/s,
      cmd update: 1.421251 deg/s,
      cmd heading: 312.748954 deg,
      new cmd heading: 310.535057 deg.

2021-08-14T22:28:03.873Z,1628980083.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:28:04.284Z,1628980084.284 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:28:04.285Z,1628980084.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:28:04.285Z,1628980084.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:28:04.286Z,1628980084.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:28:04.646Z,1628980084.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D74,000,01E4F,189,80,80,6F,FF
2021-08-14T22:28:04.647Z,1628980084.647 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:28:04.647Z,1628980084.647 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:28:04.650Z,1628980084.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:28:05.064Z,1628980085.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:28:05.893Z,1628980085.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,01E23,186,80,80,79,FF
2021-08-14T22:28:05.893Z,1628980085.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:28:05.896Z,1628980085.896 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222805.77*51

2021-08-14T22:28:06.349Z,1628980086.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 425.399994 m, bearing: 285.481116 deg, deltaT: 4.788346 s, approachRate: -0.551342 m/s, LOS rate: -0.394953 deg/s, posRepo size: 4
2021-08-14T22:28:06.378Z,1628980086.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 425.399994 m,
      bearing: 285.481116 deg,
      approachRate: -0.551342 m/s,
      LOS rate: -0.394953 deg/s,
      cmd update: -1.579811 deg/s,
      cmd heading: 319.559768 deg,
      new cmd heading: 320.178883 deg.

2021-08-14T22:28:08.738Z,1628980088.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:28:09.089Z,1628980089.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:28:09.089Z,1628980089.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:28:09.089Z,1628980089.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:28:09.090Z,1628980089.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:28:09.489Z,1628980089.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,01E23,186,80,80,79,FF
2021-08-14T22:28:09.490Z,1628980089.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:28:09.490Z,1628980089.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:28:09.493Z,1628980089.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:28:09.900Z,1628980089.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:28:10.729Z,1628980090.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,01DF6,185,80,80,97,FF
2021-08-14T22:28:10.729Z,1628980090.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:28:10.732Z,1628980090.732 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222810.61*52

2021-08-14T22:28:11.193Z,1628980091.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 422.700012 m, bearing: 283.106533 deg, deltaT: 4.835619 s, approachRate: -0.558353 m/s, LOS rate: -0.491061 deg/s, posRepo size: 4
2021-08-14T22:28:11.195Z,1628980091.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 422.700012 m,
      bearing: 283.106533 deg,
      approachRate: -0.558353 m/s,
      LOS rate: -0.491061 deg/s,
      cmd update: -1.964244 deg/s,
      cmd heading: 311.920083 deg,
      new cmd heading: 311.218232 deg.

2021-08-14T22:28:13.589Z,1628980093.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:28:13.941Z,1628980093.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:28:13.941Z,1628980093.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:28:13.941Z,1628980093.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:28:13.942Z,1628980093.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:28:14.334Z,1628980094.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,01DF6,185,80,80,97,FF
2021-08-14T22:28:14.334Z,1628980094.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:28:14.334Z,1628980094.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:28:14.338Z,1628980094.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:28:14.754Z,1628980094.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:28:15.573Z,1628980095.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,114,000,01DCD,185,80,80,A0,FF
2021-08-14T22:28:15.573Z,1628980095.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:28:15.600Z,1628980095.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222815.46*52

2021-08-14T22:28:15.998Z,1628980095.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 420.239960 m, bearing: 282.401029 deg, deltaT: 4.881077 s, approachRate: -0.503998 m/s, LOS rate: -0.144539 deg/s, posRepo size: 4
2021-08-14T22:28:16.002Z,1628980096.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 420.239960 m,
      bearing: 282.401029 deg,
      approachRate: -0.503998 m/s,
      LOS rate: -0.144539 deg/s,
      cmd update: -0.578154 deg/s,
      cmd heading: 302.333688 deg,
      new cmd heading: 301.612280 deg.

2021-08-14T22:28:18.480Z,1628980098.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:28:18.777Z,1628980098.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:28:18.777Z,1628980098.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:28:18.777Z,1628980098.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:28:18.778Z,1628980098.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:28:19.189Z,1628980099.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
114,000,01DCD,185,80,80,A0,FF
2021-08-14T22:28:19.189Z,1628980099.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:28:19.189Z,1628980099.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:28:19.191Z,1628980099.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:28:19.214Z,1628980099.214 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:28:19.600Z,1628980099.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:28:20.429Z,1628980100.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EF,000,01D9F,186,80,80,62,FF
2021-08-14T22:28:20.429Z,1628980100.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:28:20.432Z,1628980100.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222820.31*54

2021-08-14T22:28:20.858Z,1628980100.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 417.479980 m, bearing: 280.579499 deg, deltaT: 4.882147 s, approachRate: -0.565321 m/s, LOS rate: -0.373100 deg/s, posRepo size: 4
2021-08-14T22:28:20.870Z,1628980100.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 417.479980 m,
      bearing: 280.579499 deg,
      approachRate: -0.565321 m/s,
      LOS rate: -0.373100 deg/s,
      cmd update: -1.492400 deg/s,
      cmd heading: 299.513001 deg,
      new cmd heading: 299.310392 deg.

2021-08-14T22:28:23.243Z,1628980103.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:28:23.637Z,1628980103.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:28:23.637Z,1628980103.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:28:23.637Z,1628980103.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:28:23.638Z,1628980103.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:28:24.037Z,1628980104.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EF,000,01D9F,186,80,80,62,FF
2021-08-14T22:28:24.037Z,1628980104.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:28:24.037Z,1628980104.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:28:24.039Z,1628980104.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:28:24.493Z,1628980104.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:28:24.550Z,1628980104.550 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T22:28:25.301Z,1628980105.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13B,000,01D70,186,80,80,61,FF
2021-08-14T22:28:25.301Z,1628980105.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:28:25.304Z,1628980105.304 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222825.16*54

2021-08-14T22:28:25.767Z,1628980105.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 414.660004 m, bearing: 284.578056 deg, deltaT: 4.858577 s, approachRate: -0.580412 m/s, LOS rate: 0.822989 deg/s, posRepo size: 4
2021-08-14T22:28:25.772Z,1628980105.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 414.660004 m,
      bearing: 284.578056 deg,
      approachRate: -0.580412 m/s,
      LOS rate: 0.822989 deg/s,
      cmd update: 3.291957 deg/s,
      cmd heading: 292.262204 deg,
      new cmd heading: 291.663906 deg.

2021-08-14T22:28:28.203Z,1628980108.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:28:28.529Z,1628980108.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:28:28.529Z,1628980108.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:28:28.529Z,1628980108.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:28:28.530Z,1628980108.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:28:28.937Z,1628980108.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13B,000,01D70,186,80,80,61,FF
2021-08-14T22:28:28.937Z,1628980108.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:28:28.937Z,1628980108.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:28:28.939Z,1628980108.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:28:29.357Z,1628980109.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:28:30.208Z,1628980110.208 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,01D41,185,80,80,6B,FF
2021-08-14T22:28:30.210Z,1628980110.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:28:30.219Z,1628980110.219 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222830.05*52

2021-08-14T22:28:30.584Z,1628980110.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 411.839996 m, bearing: 280.999911 deg, deltaT: 4.938218 s, approachRate: -0.571058 m/s, LOS rate: -0.724582 deg/s, posRepo size: 4
2021-08-14T22:28:30.586Z,1628980110.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 411.839996 m,
      bearing: 280.999911 deg,
      approachRate: -0.571058 m/s,
      LOS rate: -0.724582 deg/s,
      cmd update: -2.898329 deg/s,
      cmd heading: 308.518779 deg,
      new cmd heading: 309.438822 deg.

2021-08-14T22:28:32.994Z,1628980112.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:28:33.381Z,1628980113.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:28:33.381Z,1628980113.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:28:33.381Z,1628980113.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:28:33.382Z,1628980113.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:28:33.777Z,1628980113.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,01D41,185,80,80,6B,FF
2021-08-14T22:28:33.777Z,1628980113.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:28:33.778Z,1628980113.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:28:33.779Z,1628980113.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:28:34.223Z,1628980114.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:28:35.031Z,1628980115.031 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03D,000,01D16,184,80,80,85,FF
2021-08-14T22:28:35.031Z,1628980115.031 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:28:35.034Z,1628980115.034 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222834.90*5A

2021-08-14T22:28:35.449Z,1628980115.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 409.259979 m, bearing: 281.183452 deg, deltaT: 4.809235 s, approachRate: -0.536471 m/s, LOS rate: 0.038164 deg/s, posRepo size: 4
2021-08-14T22:28:35.451Z,1628980115.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 409.259979 m,
      bearing: 281.183452 deg,
      approachRate: -0.536471 m/s,
      LOS rate: 0.038164 deg/s,
      cmd update: 0.152657 deg/s,
      cmd heading: 294.605398 deg,
      new cmd heading: 293.609059 deg.

2021-08-14T22:28:37.882Z,1628980117.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:28:38.265Z,1628980118.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:28:38.265Z,1628980118.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:28:38.265Z,1628980118.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:28:38.266Z,1628980118.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:28:38.654Z,1628980118.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03D,000,01D16,184,80,80,85,FF
2021-08-14T22:28:38.654Z,1628980118.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:28:38.654Z,1628980118.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:28:38.655Z,1628980118.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:28:39.061Z,1628980119.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:28:39.899Z,1628980119.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222839.77*5E

2021-08-14T22:28:40.700Z,1628980120.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:28:42.285Z,1628980122.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,184,80,80,85,FF
2021-08-14T22:28:42.286Z,1628980122.286 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,184,80,80,85,FF
2021-08-14T22:28:42.286Z,1628980122.286 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:28:43.523Z,1628980123.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:28:43.918Z,1628980123.918 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:28:43.918Z,1628980123.918 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:28:43.918Z,1628980123.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:28:43.919Z,1628980123.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:28:44.309Z,1628980124.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,184,80,80,85,FF
2021-08-14T22:28:44.309Z,1628980124.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:28:44.309Z,1628980124.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:28:44.311Z,1628980124.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:28:44.315Z,1628980124.315 [PowerOnly](INFO): Powering down loadControl
2021-08-14T22:28:44.830Z,1628980124.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:28:45.625Z,1628980125.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,01CAE,184,80,80,97,FF
2021-08-14T22:28:45.626Z,1628980125.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:28:45.629Z,1628980125.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222845.43*52

2021-08-14T22:28:46.095Z,1628980126.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 403.020020 m, bearing: 282.199893 deg, deltaT: 10.547401 s, approachRate: -0.591611 m/s, LOS rate: 0.096369 deg/s, posRepo size: 4
2021-08-14T22:28:46.098Z,1628980126.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 403.020020 m,
      bearing: 282.199893 deg,
      approachRate: -0.591611 m/s,
      LOS rate: 0.096369 deg/s,
      cmd update: 0.385476 deg/s,
      cmd heading: 296.214397 deg,
      new cmd heading: 296.283197 deg.

2021-08-14T22:28:48.551Z,1628980128.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:28:48.857Z,1628980128.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:28:48.857Z,1628980128.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:28:48.857Z,1628980128.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:28:48.858Z,1628980128.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:28:49.258Z,1628980129.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,01CAE,184,80,80,97,FF
2021-08-14T22:28:49.258Z,1628980129.258 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:28:49.258Z,1628980129.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:28:49.259Z,1628980129.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:28:49.675Z,1628980129.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:28:50.497Z,1628980130.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,01C7F,184,80,80,74,FF
2021-08-14T22:28:50.498Z,1628980130.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:28:50.500Z,1628980130.500 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222850.38*5A

2021-08-14T22:28:50.544Z,1628980130.544 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T22:28:50.952Z,1628980130.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 400.199982 m, bearing: 283.767394 deg, deltaT: 4.914073 s, approachRate: -0.573870 m/s, LOS rate: 0.318982 deg/s, posRepo size: 4
2021-08-14T22:28:50.956Z,1628980130.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 400.199982 m,
      bearing: 283.767394 deg,
      approachRate: -0.573870 m/s,
      LOS rate: 0.318982 deg/s,
      cmd update: 1.275928 deg/s,
      cmd heading: 298.116420 deg,
      new cmd heading: 298.258205 deg.

2021-08-14T22:28:53.366Z,1628980133.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:28:53.701Z,1628980133.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:28:53.701Z,1628980133.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:28:53.701Z,1628980133.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:28:53.702Z,1628980133.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:28:54.105Z,1628980134.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,01C7F,184,80,80,74,FF
2021-08-14T22:28:54.105Z,1628980134.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:28:54.106Z,1628980134.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:28:54.107Z,1628980134.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:28:54.524Z,1628980134.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:28:54.543Z,1628980134.543 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:28:55.350Z,1628980135.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,01C51,184,80,80,7D,FF
2021-08-14T22:28:55.350Z,1628980135.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:28:55.354Z,1628980135.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222855.22*54

2021-08-14T22:28:55.833Z,1628980135.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 397.439972 m, bearing: 283.213603 deg, deltaT: 4.824498 s, approachRate: -0.572082 m/s, LOS rate: -0.114787 deg/s, posRepo size: 4
2021-08-14T22:28:55.835Z,1628980135.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 397.439972 m,
      bearing: 283.213603 deg,
      approachRate: -0.572082 m/s,
      LOS rate: -0.114787 deg/s,
      cmd update: -0.459150 deg/s,
      cmd heading: 304.241560 deg,
      new cmd heading: 304.820128 deg.

2021-08-14T22:28:58.266Z,1628980138.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:28:58.581Z,1628980138.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:28:58.581Z,1628980138.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:28:58.581Z,1628980138.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:28:58.582Z,1628980138.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:28:58.987Z,1628980138.987 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,01C51,184,80,80,7D,FF
2021-08-14T22:28:58.987Z,1628980138.987 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:28:58.987Z,1628980138.987 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:28:58.989Z,1628980138.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:28:59.397Z,1628980139.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:29:00.281Z,1628980140.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,100,000,01C20,186,80,80,92,FF
2021-08-14T22:29:00.281Z,1628980140.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:29:00.284Z,1628980140.284 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222900.11*55

2021-08-14T22:29:00.677Z,1628980140.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 394.499969 m, bearing: 284.084151 deg, deltaT: 4.958054 s, approachRate: -0.592975 m/s, LOS rate: 0.175583 deg/s, posRepo size: 4
2021-08-14T22:29:00.697Z,1628980140.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 394.499969 m,
      bearing: 284.084151 deg,
      approachRate: -0.592975 m/s,
      LOS rate: 0.175583 deg/s,
      cmd update: 0.702331 deg/s,
      cmd heading: 301.960452 deg,
      new cmd heading: 301.809887 deg.

2021-08-14T22:29:01.460Z,1628980141.460 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T22:29:03.201Z,1628980143.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:29:03.501Z,1628980143.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:29:03.501Z,1628980143.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:29:03.501Z,1628980143.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:29:03.502Z,1628980143.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:29:03.902Z,1628980143.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
100,000,01C20,186,80,80,92,FF
2021-08-14T22:29:03.902Z,1628980143.902 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:29:03.903Z,1628980143.903 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:29:03.905Z,1628980143.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:29:04.357Z,1628980144.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:29:05.202Z,1628980145.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,01BF1,186,80,80,7B,FF
2021-08-14T22:29:05.202Z,1628980145.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:29:05.662Z,1628980145.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 391.679993 m, bearing: 284.115898 deg, deltaT: 4.862174 s, approachRate: -0.579983 m/s, LOS rate: 0.006529 deg/s, posRepo size: 4
2021-08-14T22:29:05.668Z,1628980145.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 391.679993 m,
      bearing: 284.115898 deg,
      approachRate: -0.579983 m/s,
      LOS rate: 0.006529 deg/s,
      cmd update: 0.026117 deg/s,
      cmd heading: 305.385127 deg,
      new cmd heading: 305.692928 deg.

2021-08-14T22:29:08.083Z,1628980148.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:29:08.441Z,1628980148.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:29:08.442Z,1628980148.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:29:08.442Z,1628980148.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:29:08.443Z,1628980148.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:29:08.846Z,1628980148.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12E,000,01BF1,186,80,80,7B,FF
2021-08-14T22:29:08.846Z,1628980148.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:29:08.846Z,1628980148.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:29:08.872Z,1628980148.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:29:09.257Z,1628980149.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:29:09.657Z,1628980149.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,109,000,0031E,185,80,80,70,FF
2021-08-14T22:29:09.658Z,1628980149.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:29:10.067Z,1628980150.067 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222909.99*5C

2021-08-14T22:29:10.100Z,1628980150.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.380001 m, bearing: 285.159168 deg, deltaT: 4.450861 s, approachRate: -85.668816 m/s, LOS rate: 0.234397 deg/s, posRepo size: 4
2021-08-14T22:29:10.100Z,1628980150.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 10.38 m.
2021-08-14T22:29:10.102Z,1628980150.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.380001 m,
      bearing: 285.159168 deg,
      approachRate: -85.668816 m/s,
      LOS rate: 0.234397 deg/s,
      cmd update: 0.937590 deg/s,
      cmd heading: 305.501369 deg,
      new cmd heading: 305.512471 deg.

2021-08-14T22:29:10.510Z,1628980150.510 [PowerOnly](INFO): Powering up loadControl
2021-08-14T22:29:10.579Z,1628980150.579 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T22:29:10.579Z,1628980150.579 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T22:29:10.579Z,1628980150.579 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T22:29:10.597Z,1628980150.597 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T22:29:10.598Z,1628980150.598 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T22:29:10.598Z,1628980150.598 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T22:29:10.913Z,1628980150.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T22:29:10.913Z,1628980150.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T22:29:10.913Z,1628980150.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T22:29:10.913Z,1628980150.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T22:29:12.225Z,1628980152.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:29:12.505Z,1628980152.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:29:12.505Z,1628980152.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:29:12.505Z,1628980152.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:29:12.506Z,1628980152.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:29:12.889Z,1628980152.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
109,000,0031E,185,80,80,70,FF
2021-08-14T22:29:12.889Z,1628980152.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:29:12.889Z,1628980152.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:29:12.891Z,1628980152.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:29:13.335Z,1628980153.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:29:14.115Z,1628980154.115 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222914.01*51

2021-08-14T22:29:14.935Z,1628980154.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:29:16.519Z,1628980156.519 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,185,80,80,70,FF
2021-08-14T22:29:16.519Z,1628980156.519 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,185,80,80,70,FF
2021-08-14T22:29:16.519Z,1628980156.519 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:29:17.758Z,1628980157.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:29:18.145Z,1628980158.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:29:18.145Z,1628980158.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:29:18.145Z,1628980158.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:29:18.146Z,1628980158.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:29:18.553Z,1628980158.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,185,80,80,70,FF
2021-08-14T22:29:18.553Z,1628980158.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:29:18.553Z,1628980158.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:29:18.556Z,1628980158.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:29:18.948Z,1628980158.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:29:19.758Z,1628980159.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222919.67*5C

2021-08-14T22:29:20.274Z,1628980160.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:29:22.189Z,1628980162.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,185,80,80,70,FF
2021-08-14T22:29:22.190Z,1628980162.190 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,185,80,80,70,FF
2021-08-14T22:29:22.191Z,1628980162.191 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:29:23.039Z,1628980163.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:29:23.480Z,1628980163.480 [DDM](ERROR): Could not parse whisker state
2021-08-14T22:29:23.489Z,1628980163.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:29:23.489Z,1628980163.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:29:23.489Z,1628980163.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:29:23.490Z,1628980163.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:29:23.811Z,1628980163.811 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,185,80,80,70,FF
2021-08-14T22:29:23.811Z,1628980163.811 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:29:23.811Z,1628980163.811 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:29:23.813Z,1628980163.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:29:24.223Z,1628980164.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:29:25.025Z,1628980165.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C8,000,01B3D,187,80,80,8A,FF
2021-08-14T22:29:25.026Z,1628980165.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:29:25.030Z,1628980165.030 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222924.93*59

2021-08-14T22:29:25.102Z,1628980165.102 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T22:29:25.456Z,1628980165.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 380.879974 m, bearing: 276.670418 deg, deltaT: 15.424562 s, approachRate: 24.020128 m/s, LOS rate: -0.550340 deg/s, posRepo size: 4
2021-08-14T22:29:25.458Z,1628980165.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 380.879974 m,
      bearing: 276.670418 deg,
      approachRate: 24.020128 m/s,
      LOS rate: -0.550340 deg/s,
      cmd update: -2.201359 deg/s,
      cmd heading: 319.959303 deg,
      new cmd heading: 320.297694 deg.

2021-08-14T22:29:25.875Z,1628980165.875 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T22:29:25.875Z,1628980165.875 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T22:29:25.882Z,1628980165.882 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T22:29:25.894Z,1628980165.894 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T22:29:25.895Z,1628980165.895 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T22:29:25.896Z,1628980165.896 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T22:29:26.351Z,1628980166.351 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T22:29:26.351Z,1628980166.351 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T22:29:26.351Z,1628980166.351 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T22:29:26.351Z,1628980166.351 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T22:29:27.865Z,1628980167.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:29:28.269Z,1628980168.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:29:28.269Z,1628980168.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:29:28.270Z,1628980168.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:29:28.271Z,1628980168.271 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:29:28.633Z,1628980168.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C8,000,01B3D,187,80,80,8A,FF
2021-08-14T22:29:28.633Z,1628980168.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:29:28.633Z,1628980168.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:29:28.635Z,1628980168.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:29:29.054Z,1628980169.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:29:29.870Z,1628980169.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,00F9A,189,80,80,9C,FF
2021-08-14T22:29:29.871Z,1628980169.871 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:29:29.911Z,1628980169.911 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222929.75*5C

2021-08-14T22:29:30.404Z,1628980170.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.139984 m, bearing: 273.008016 deg, deltaT: 4.850030 s, approachRate: -36.853378 m/s, LOS rate: -0.755130 deg/s, posRepo size: 4
2021-08-14T22:29:30.406Z,1628980170.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.139984 m,
      bearing: 273.008016 deg,
      approachRate: -36.853378 m/s,
      LOS rate: -0.755130 deg/s,
      cmd update: -3.020519 deg/s,
      cmd heading: 309.291351 deg,
      new cmd heading: 308.280964 deg.

2021-08-14T22:29:32.692Z,1628980172.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:29:33.073Z,1628980173.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:29:33.073Z,1628980173.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:29:33.073Z,1628980173.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:29:33.074Z,1628980173.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:29:33.505Z,1628980173.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,00F9A,189,80,80,9C,FF
2021-08-14T22:29:33.505Z,1628980173.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:29:33.506Z,1628980173.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:29:33.507Z,1628980173.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:29:33.893Z,1628980173.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:29:34.699Z,1628980174.699 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30F,000,01AF1,189,80,80,A8,FF
2021-08-14T22:29:34.716Z,1628980174.716 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:29:34.719Z,1628980174.719 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222934.62*56

2021-08-14T22:29:35.144Z,1628980175.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 376.320007 m, bearing: 275.256241 deg, deltaT: 4.871131 s, approachRate: 35.757614 m/s, LOS rate: 0.461541 deg/s, posRepo size: 4
2021-08-14T22:29:35.146Z,1628980175.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 376.320007 m,
      bearing: 275.256241 deg,
      approachRate: 35.757614 m/s,
      LOS rate: 0.461541 deg/s,
      cmd update: 1.846163 deg/s,
      cmd heading: 294.565738 deg,
      new cmd heading: 293.575554 deg.

2021-08-14T22:29:37.568Z,1628980177.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:29:37.933Z,1628980177.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:29:37.933Z,1628980177.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:29:37.933Z,1628980177.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:29:37.934Z,1628980177.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:29:38.338Z,1628980178.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30F,000,01AF1,189,80,80,A8,FF
2021-08-14T22:29:38.338Z,1628980178.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:29:38.338Z,1628980178.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:29:38.341Z,1628980178.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:29:38.737Z,1628980178.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:29:39.137Z,1628980179.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,004E2,186,80,80,72,FF
2021-08-14T22:29:39.138Z,1628980179.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:29:39.581Z,1628980179.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222939.46*5D

2021-08-14T22:29:39.604Z,1628980179.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.500000 m, bearing: 279.993770 deg, deltaT: 4.345668 s, approachRate: -77.967300 m/s, LOS rate: 1.090173 deg/s, posRepo size: 4
2021-08-14T22:29:39.605Z,1628980179.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.50 m.
2021-08-14T22:29:39.605Z,1628980179.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 37.50 m.
2021-08-14T22:29:39.605Z,1628980179.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T22:29:39.610Z,1628980179.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.500000 m,
      bearing: 279.993770 deg,
      approachRate: -77.967300 m/s,
      LOS rate: 1.090173 deg/s,
      cmd update: 4.360691 deg/s,
      cmd heading: 302.596167 deg,
      new cmd heading: 303.404587 deg.

2021-08-14T22:29:39.981Z,1628980179.981 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T22:29:39.981Z,1628980179.981 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T22:29:39.982Z,1628980179.982 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T22:29:39.982Z,1628980179.982 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T22:29:39.982Z,1628980179.982 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T22:29:39.982Z,1628980179.982 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T22:29:40.461Z,1628980180.461 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T22:29:40.462Z,1628980180.462 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T22:29:40.462Z,1628980180.462 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T22:29:40.462Z,1628980180.462 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T22:29:42.008Z,1628980182.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:29:42.385Z,1628980182.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:29:42.386Z,1628980182.386 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:29:42.386Z,1628980182.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:29:42.387Z,1628980182.387 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:29:42.781Z,1628980182.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,004E2,186,80,80,72,FF
2021-08-14T22:29:42.782Z,1628980182.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:29:42.782Z,1628980182.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:29:42.783Z,1628980182.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:29:43.185Z,1628980183.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:29:44.005Z,1628980184.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,01AA5,186,80,80,84,FF
2021-08-14T22:29:44.006Z,1628980184.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:29:44.009Z,1628980184.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222943.90*5B

2021-08-14T22:29:44.048Z,1628980184.048 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T22:29:44.542Z,1628980184.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 371.759979 m, bearing: 275.308779 deg, deltaT: 4.879107 s, approachRate: 68.508430 m/s, LOS rate: -0.960215 deg/s, posRepo size: 4
2021-08-14T22:29:44.548Z,1628980184.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 371.759979 m,
      bearing: 275.308779 deg,
      approachRate: 68.508430 m/s,
      LOS rate: -0.960215 deg/s,
      cmd update: -3.840859 deg/s,
      cmd heading: 323.783346 deg,
      new cmd heading: 326.016862 deg.

2021-08-14T22:29:44.833Z,1628980184.833 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T22:29:44.833Z,1628980184.833 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T22:29:44.834Z,1628980184.834 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T22:29:44.834Z,1628980184.834 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T22:29:44.834Z,1628980184.834 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T22:29:44.834Z,1628980184.834 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T22:29:45.227Z,1628980185.227 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T22:29:45.228Z,1628980185.228 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T22:29:45.228Z,1628980185.228 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T22:29:45.228Z,1628980185.228 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T22:29:46.857Z,1628980186.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:29:47.221Z,1628980187.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:29:47.221Z,1628980187.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:29:47.221Z,1628980187.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:29:47.222Z,1628980187.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:29:47.625Z,1628980187.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C3,000,01AA5,186,80,80,84,FF
2021-08-14T22:29:47.625Z,1628980187.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:29:47.625Z,1628980187.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:29:47.627Z,1628980187.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:29:48.036Z,1628980188.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:29:48.441Z,1628980188.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,237,000,008D5,189,80,80,9A,FF
2021-08-14T22:29:48.442Z,1628980188.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:29:48.876Z,1628980188.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222948.74*5A

2021-08-14T22:29:48.919Z,1628980188.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.159996 m, bearing: 274.776243 deg, deltaT: 4.472057 s, approachRate: -61.179893 m/s, LOS rate: -0.119081 deg/s, posRepo size: 4
2021-08-14T22:29:48.922Z,1628980188.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.159996 m,
      bearing: 274.776243 deg,
      approachRate: -61.179893 m/s,
      LOS rate: -0.119081 deg/s,
      cmd update: -0.476323 deg/s,
      cmd heading: 306.529493 deg,
      new cmd heading: 304.983320 deg.

2021-08-14T22:29:51.296Z,1628980191.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:29:51.665Z,1628980191.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:29:51.665Z,1628980191.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:29:51.665Z,1628980191.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:29:51.666Z,1628980191.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:29:52.073Z,1628980192.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
237,000,008D5,189,80,80,9A,FF
2021-08-14T22:29:52.073Z,1628980192.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:29:52.074Z,1628980192.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:29:52.075Z,1628980192.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:29:52.491Z,1628980192.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:29:53.315Z,1628980193.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30A,000,01A4F,189,80,80,8C,FF
2021-08-14T22:29:53.316Z,1628980193.316 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:29:53.320Z,1628980193.320 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222953.19*5B

2021-08-14T22:29:53.744Z,1628980193.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 366.600006 m, bearing: 276.822923 deg, deltaT: 4.832174 s, approachRate: 55.552635 m/s, LOS rate: 0.423553 deg/s, posRepo size: 4
2021-08-14T22:29:53.753Z,1628980193.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 366.600006 m,
      bearing: 276.822923 deg,
      approachRate: 55.552635 m/s,
      LOS rate: 0.423553 deg/s,
      cmd update: 1.694210 deg/s,
      cmd heading: 304.230367 deg,
      new cmd heading: 304.041797 deg.

2021-08-14T22:29:56.147Z,1628980196.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:29:56.517Z,1628980196.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:29:56.517Z,1628980196.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:29:56.517Z,1628980196.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:29:56.518Z,1628980196.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:29:56.961Z,1628980196.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30A,000,01A4F,189,80,80,8C,FF
2021-08-14T22:29:56.961Z,1628980196.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:29:56.961Z,1628980196.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:29:56.963Z,1628980196.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:29:57.345Z,1628980197.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:29:58.142Z,1628980198.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,319,000,01A33,189,80,80,8E,FF
2021-08-14T22:29:58.144Z,1628980198.144 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:29:58.150Z,1628980198.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222958.08*50

2021-08-14T22:29:58.607Z,1628980198.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 364.919983 m, bearing: 274.609996 deg, deltaT: 4.911890 s, approachRate: -0.342032 m/s, LOS rate: -0.450524 deg/s, posRepo size: 4
2021-08-14T22:29:58.610Z,1628980198.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 364.919983 m,
      bearing: 274.609996 deg,
      approachRate: -0.342032 m/s,
      LOS rate: -0.450524 deg/s,
      cmd update: -1.802098 deg/s,
      cmd heading: 312.558066 deg,
      new cmd heading: 313.147502 deg.

2021-08-14T22:30:00.987Z,1628980200.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:30:01.374Z,1628980201.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:30:01.375Z,1628980201.375 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:30:01.375Z,1628980201.375 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:30:01.397Z,1628980201.397 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:30:01.765Z,1628980201.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
319,000,01A33,189,80,80,8E,FF
2021-08-14T22:30:01.765Z,1628980201.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:30:01.765Z,1628980201.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:30:01.767Z,1628980201.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:30:02.204Z,1628980202.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:30:03.001Z,1628980203.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,01A06,189,80,80,99,FF
2021-08-14T22:30:03.001Z,1628980203.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:30:03.004Z,1628980203.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223002.88*5F

2021-08-14T22:30:03.417Z,1628980203.417 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 2.95 mm (3 active estimators).
2021-08-14T22:30:03.446Z,1628980203.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 362.220001 m, bearing: 274.056614 deg, deltaT: 4.799515 s, approachRate: -0.562553 m/s, LOS rate: -0.115300 deg/s, posRepo size: 4
2021-08-14T22:30:03.452Z,1628980203.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 362.220001 m,
      bearing: 274.056614 deg,
      approachRate: -0.562553 m/s,
      LOS rate: -0.115300 deg/s,
      cmd update: -0.461198 deg/s,
      cmd heading: 303.934106 deg,
      new cmd heading: 303.210999 deg.

2021-08-14T22:30:05.884Z,1628980205.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:30:06.250Z,1628980206.250 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:30:06.250Z,1628980206.250 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:30:06.250Z,1628980206.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:30:06.251Z,1628980206.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:30:06.613Z,1628980206.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27F,000,01A06,189,80,80,99,FF
2021-08-14T22:30:06.613Z,1628980206.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:30:06.613Z,1628980206.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:30:06.615Z,1628980206.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:30:07.026Z,1628980207.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:30:07.853Z,1628980207.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AA,000,019E7,189,80,80,94,FF
2021-08-14T22:30:07.853Z,1628980207.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:30:07.856Z,1628980207.856 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223007.73*5E

2021-08-14T22:30:08.354Z,1628980208.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 360.360016 m, bearing: 267.028431 deg, deltaT: 4.811539 s, approachRate: -0.386568 m/s, LOS rate: -1.460693 deg/s, posRepo size: 4
2021-08-14T22:30:08.360Z,1628980208.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 360.360016 m,
      bearing: 267.028431 deg,
      approachRate: -0.386568 m/s,
      LOS rate: -1.460693 deg/s,
      cmd update: -5.842773 deg/s,
      cmd heading: 301.707508 deg,
      new cmd heading: 301.487846 deg.

2021-08-14T22:30:10.693Z,1628980210.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:30:11.053Z,1628980211.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:30:11.053Z,1628980211.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:30:11.053Z,1628980211.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:30:11.054Z,1628980211.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:30:11.470Z,1628980211.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AA,000,019E7,189,80,80,94,FF
2021-08-14T22:30:11.470Z,1628980211.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:30:11.470Z,1628980211.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:30:11.472Z,1628980211.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:30:11.868Z,1628980211.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:30:12.694Z,1628980212.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,104,000,019CE,186,80,80,A2,FF
2021-08-14T22:30:12.694Z,1628980212.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:30:12.697Z,1628980212.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223012.59*52

2021-08-14T22:30:13.107Z,1628980213.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 358.859985 m, bearing: 278.299282 deg, deltaT: 4.875586 s, approachRate: -0.307662 m/s, LOS rate: 2.311691 deg/s, posRepo size: 4
2021-08-14T22:30:13.109Z,1628980213.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 358.859985 m,
      bearing: 278.299282 deg,
      approachRate: -0.307662 m/s,
      LOS rate: 2.311691 deg/s,
      cmd update: 9.246766 deg/s,
      cmd heading: 273.244999 deg,
      new cmd heading: 271.122630 deg.

2021-08-14T22:30:15.519Z,1628980215.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:30:15.913Z,1628980215.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:30:15.914Z,1628980215.914 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:30:15.914Z,1628980215.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:30:15.915Z,1628980215.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:30:16.314Z,1628980216.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
104,000,019CE,186,80,80,A2,FF
2021-08-14T22:30:16.314Z,1628980216.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:30:16.314Z,1628980216.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:30:16.317Z,1628980216.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:30:16.717Z,1628980216.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:30:17.554Z,1628980217.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,019A0,183,80,80,68,FF
2021-08-14T22:30:17.555Z,1628980217.555 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:30:17.557Z,1628980217.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223017.43*5C

2021-08-14T22:30:17.965Z,1628980217.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 356.100006 m, bearing: 276.924201 deg, deltaT: 4.826123 s, approachRate: -0.571883 m/s, LOS rate: -0.284925 deg/s, posRepo size: 4
2021-08-14T22:30:17.967Z,1628980217.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 356.100006 m,
      bearing: 276.924201 deg,
      approachRate: -0.571883 m/s,
      LOS rate: -0.284925 deg/s,
      cmd update: -1.139698 deg/s,
      cmd heading: 317.909836 deg,
      new cmd heading: 321.525017 deg.

2021-08-14T22:30:20.430Z,1628980220.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:30:20.757Z,1628980220.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:30:20.757Z,1628980220.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:30:20.757Z,1628980220.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:30:20.758Z,1628980220.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:30:21.161Z,1628980221.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,019A0,183,80,80,68,FF
2021-08-14T22:30:21.161Z,1628980221.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:30:21.161Z,1628980221.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:30:21.163Z,1628980221.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:30:21.568Z,1628980221.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:30:22.393Z,1628980222.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,111,000,011B4,186,80,80,90,FF
2021-08-14T22:30:22.394Z,1628980222.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:30:22.396Z,1628980222.396 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223022.28*57

2021-08-14T22:30:22.828Z,1628980222.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.419998 m, bearing: 270.912787 deg, deltaT: 4.858002 s, approachRate: -25.047337 m/s, LOS rate: -1.237425 deg/s, posRepo size: 4
2021-08-14T22:30:22.830Z,1628980222.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.419998 m,
      bearing: 270.912787 deg,
      approachRate: -25.047337 m/s,
      LOS rate: -1.237425 deg/s,
      cmd update: -4.949700 deg/s,
      cmd heading: 312.373257 deg,
      new cmd heading: 311.922207 deg.

2021-08-14T22:30:25.232Z,1628980225.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:30:25.593Z,1628980225.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:30:25.593Z,1628980225.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:30:25.593Z,1628980225.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:30:25.594Z,1628980225.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:30:26.009Z,1628980226.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
111,000,011B4,186,80,80,90,FF
2021-08-14T22:30:26.009Z,1628980226.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:30:26.009Z,1628980226.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:30:26.011Z,1628980226.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:30:26.410Z,1628980226.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:30:27.221Z,1628980227.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D4,000,0193D,189,80,80,53,FF
2021-08-14T22:30:27.221Z,1628980227.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:30:27.670Z,1628980227.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 350.159973 m, bearing: 265.682502 deg, deltaT: 4.838923 s, approachRate: 23.918541 m/s, LOS rate: -1.080878 deg/s, posRepo size: 4
2021-08-14T22:30:27.672Z,1628980227.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.159973 m,
      bearing: 265.682502 deg,
      approachRate: 23.918541 m/s,
      LOS rate: -1.080878 deg/s,
      cmd update: -4.323512 deg/s,
      cmd heading: 288.421856 deg,
      new cmd heading: 286.449019 deg.

2021-08-14T22:30:30.088Z,1628980230.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:30:30.445Z,1628980230.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:30:30.445Z,1628980230.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:30:30.445Z,1628980230.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:30:30.446Z,1628980230.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:30:30.865Z,1628980230.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D4,000,0193D,189,80,80,53,FF
2021-08-14T22:30:30.865Z,1628980230.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:30:30.865Z,1628980230.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:30:30.867Z,1628980230.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:30:31.259Z,1628980231.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:30:32.081Z,1628980232.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27C,000,01908,188,80,80,51,FF
2021-08-14T22:30:32.081Z,1628980232.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:30:32.084Z,1628980232.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223031.98*5E

2021-08-14T22:30:32.582Z,1628980232.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 346.979980 m, bearing: 272.962418 deg, deltaT: 4.871372 s, approachRate: -0.652792 m/s, LOS rate: 1.494428 deg/s, posRepo size: 4
2021-08-14T22:30:32.584Z,1628980232.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 346.979980 m,
      bearing: 272.962418 deg,
      approachRate: -0.652792 m/s,
      LOS rate: 1.494428 deg/s,
      cmd update: 5.977713 deg/s,
      cmd heading: 267.518911 deg,
      new cmd heading: 265.459185 deg.

2021-08-14T22:30:34.947Z,1628980234.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:30:35.299Z,1628980235.299 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:30:35.299Z,1628980235.299 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:30:35.300Z,1628980235.300 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:30:35.301Z,1628980235.301 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:30:35.710Z,1628980235.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27C,000,01908,188,80,80,51,FF
2021-08-14T22:30:35.713Z,1628980235.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:30:35.716Z,1628980235.716 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:30:35.719Z,1628980235.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:30:36.108Z,1628980236.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:30:36.915Z,1628980236.915 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,018D1,186,80,80,70,FF
2021-08-14T22:30:36.916Z,1628980236.916 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:30:36.925Z,1628980236.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223036.84*54

2021-08-14T22:30:37.384Z,1628980237.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 343.679993 m, bearing: 274.448940 deg, deltaT: 4.835476 s, approachRate: -0.682454 m/s, LOS rate: 0.307420 deg/s, posRepo size: 4
2021-08-14T22:30:37.386Z,1628980237.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 343.679993 m,
      bearing: 274.448940 deg,
      approachRate: -0.682454 m/s,
      LOS rate: 0.307420 deg/s,
      cmd update: 1.229680 deg/s,
      cmd heading: 296.584974 deg,
      new cmd heading: 298.991834 deg.

2021-08-14T22:30:39.771Z,1628980239.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:30:40.162Z,1628980240.162 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:30:40.162Z,1628980240.162 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:30:40.163Z,1628980240.163 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:30:40.169Z,1628980240.169 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:30:40.465Z,1628980240.465 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.245163
2021-08-14T22:30:40.545Z,1628980240.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,018D1,186,80,80,70,FF
2021-08-14T22:30:40.545Z,1628980240.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:30:40.545Z,1628980240.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:30:40.547Z,1628980240.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:30:40.952Z,1628980240.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:30:41.781Z,1628980241.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,01899,186,80,80,7E,FF
2021-08-14T22:30:41.781Z,1628980241.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:30:41.784Z,1628980241.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223041.66*58

2021-08-14T22:30:42.284Z,1628980242.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 340.319977 m, bearing: 270.674659 deg, deltaT: 4.851391 s, approachRate: -0.692588 m/s, LOS rate: -0.777979 deg/s, posRepo size: 4
2021-08-14T22:30:42.286Z,1628980242.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 340.319977 m,
      bearing: 270.674659 deg,
      approachRate: -0.692588 m/s,
      LOS rate: -0.777979 deg/s,
      cmd update: -3.111916 deg/s,
      cmd heading: 302.556473 deg,
      new cmd heading: 303.121757 deg.

2021-08-14T22:30:44.633Z,1628980244.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:30:44.993Z,1628980244.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:30:44.993Z,1628980244.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:30:44.993Z,1628980244.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:30:44.994Z,1628980244.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:30:45.409Z,1628980245.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,01899,186,80,80,7E,FF
2021-08-14T22:30:45.409Z,1628980245.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:30:45.409Z,1628980245.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:30:45.411Z,1628980245.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:30:45.801Z,1628980245.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:30:46.638Z,1628980246.638 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223046.53*59

2021-08-14T22:30:47.466Z,1628980247.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:30:49.029Z,1628980249.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,7E,FF
2021-08-14T22:30:49.029Z,1628980249.029 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,7E,FF
2021-08-14T22:30:49.029Z,1628980249.029 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:30:50.319Z,1628980250.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:30:50.649Z,1628980250.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:30:50.649Z,1628980250.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:30:50.649Z,1628980250.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:30:50.650Z,1628980250.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:30:51.061Z,1628980251.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,7E,FF
2021-08-14T22:30:51.062Z,1628980251.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:30:51.062Z,1628980251.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:30:51.064Z,1628980251.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:30:51.456Z,1628980251.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:30:52.290Z,1628980252.290 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223052.18*53

2021-08-14T22:30:53.083Z,1628980253.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:30:54.705Z,1628980254.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,7E,FF
2021-08-14T22:30:54.705Z,1628980254.705 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,7E,FF
2021-08-14T22:30:54.705Z,1628980254.705 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:30:55.961Z,1628980255.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:30:56.322Z,1628980256.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:30:56.322Z,1628980256.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:30:56.322Z,1628980256.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:30:56.323Z,1628980256.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:30:56.737Z,1628980256.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,7E,FF
2021-08-14T22:30:56.738Z,1628980256.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:30:56.738Z,1628980256.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:30:56.739Z,1628980256.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:30:57.197Z,1628980257.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:30:57.997Z,1628980257.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,017E4,184,80,80,6D,FF
2021-08-14T22:30:57.997Z,1628980257.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:30:58.000Z,1628980258.000 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223057.86*51

2021-08-14T22:30:58.447Z,1628980258.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 329.459991 m, bearing: 275.136631 deg, deltaT: 16.200160 s, approachRate: -0.670363 m/s, LOS rate: 0.275428 deg/s, posRepo size: 4
2021-08-14T22:30:58.449Z,1628980258.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 329.459991 m,
      bearing: 275.136631 deg,
      approachRate: -0.670363 m/s,
      LOS rate: 0.275428 deg/s,
      cmd update: 1.101710 deg/s,
      cmd heading: 252.127589 deg,
      new cmd heading: 250.827505 deg.

2021-08-14T22:31:00.837Z,1628980260.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:31:01.245Z,1628980261.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:31:01.245Z,1628980261.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:31:01.245Z,1628980261.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:31:01.246Z,1628980261.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:31:01.645Z,1628980261.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,017E4,184,80,80,6D,FF
2021-08-14T22:31:01.646Z,1628980261.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:31:01.646Z,1628980261.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:31:01.648Z,1628980261.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:31:02.048Z,1628980262.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:31:02.881Z,1628980262.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,017B2,187,80,80,50,FF
2021-08-14T22:31:02.881Z,1628980262.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:31:02.885Z,1628980262.885 [Micromodem](INFO): Nmea in: $SNTTA,0.220216,,,,223102.77*45

2021-08-14T22:31:03.310Z,1628980263.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 326.459991 m, bearing: 274.527515 deg, deltaT: 4.871546 s, approachRate: -0.615821 m/s, LOS rate: -0.125036 deg/s, posRepo size: 4
2021-08-14T22:31:03.314Z,1628980263.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 326.459991 m,
      bearing: 274.527515 deg,
      approachRate: -0.615821 m/s,
      LOS rate: -0.125036 deg/s,
      cmd update: -0.500142 deg/s,
      cmd heading: 257.494402 deg,
      new cmd heading: 257.925142 deg.

2021-08-14T22:31:03.728Z,1628980263.728 [Radio_Surface](INFO): Powering down
2021-08-14T22:31:05.743Z,1628980265.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:31:06.085Z,1628980266.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:31:06.085Z,1628980266.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:31:06.085Z,1628980266.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:31:06.086Z,1628980266.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:31:06.489Z,1628980266.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,017B2,187,80,80,50,FF
2021-08-14T22:31:06.489Z,1628980266.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:31:06.489Z,1628980266.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:31:06.491Z,1628980266.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:31:06.926Z,1628980266.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:31:07.733Z,1628980267.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,01770,186,80,80,54,FF
2021-08-14T22:31:07.734Z,1628980267.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:31:07.737Z,1628980267.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223107.61*5C

2021-08-14T22:31:08.177Z,1628980268.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 322.499969 m, bearing: 275.466228 deg, deltaT: 4.852643 s, approachRate: -0.816055 m/s, LOS rate: 0.193444 deg/s, posRepo size: 4
2021-08-14T22:31:08.201Z,1628980268.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 322.499969 m,
      bearing: 275.466228 deg,
      approachRate: -0.816055 m/s,
      LOS rate: 0.193444 deg/s,
      cmd update: 0.773775 deg/s,
      cmd heading: 255.067663 deg,
      new cmd heading: 254.858986 deg.

2021-08-14T22:31:10.139Z,1628980270.139 [PowerOnly](INFO): Powering down loadControl
2021-08-14T22:31:10.584Z,1628980270.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:31:10.951Z,1628980270.951 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:31:10.951Z,1628980270.951 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:31:10.951Z,1628980270.951 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:31:10.952Z,1628980270.952 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:31:11.342Z,1628980271.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E86,000,01770,186,80,80,54,FF
2021-08-14T22:31:11.342Z,1628980271.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:31:11.342Z,1628980271.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:31:11.345Z,1628980271.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:31:11.756Z,1628980271.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:31:12.581Z,1628980272.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,0173C,187,80,80,5D,FF
2021-08-14T22:31:12.581Z,1628980272.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:31:12.585Z,1628980272.585 [Micromodem](INFO): Nmea in: $SNTTA,0.214956,,,,223112.47*4F

2021-08-14T22:31:13.012Z,1628980273.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 319.380005 m, bearing: 269.842660 deg, deltaT: 4.910296 s, approachRate: -0.635392 m/s, LOS rate: -1.145261 deg/s, posRepo size: 4
2021-08-14T22:31:13.014Z,1628980273.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 319.380005 m,
      bearing: 269.842660 deg,
      approachRate: -0.635392 m/s,
      LOS rate: -1.145261 deg/s,
      cmd update: -4.581042 deg/s,
      cmd heading: 258.864620 deg,
      new cmd heading: 259.137067 deg.

2021-08-14T22:31:15.407Z,1628980275.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:31:15.781Z,1628980275.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:31:15.781Z,1628980275.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:31:15.781Z,1628980275.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:31:15.782Z,1628980275.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:31:16.225Z,1628980276.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,0173C,187,80,80,5D,FF
2021-08-14T22:31:16.225Z,1628980276.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:31:16.225Z,1628980276.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:31:16.227Z,1628980276.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:31:16.612Z,1628980276.612 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T22:31:16.640Z,1628980276.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:31:17.459Z,1628980277.459 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,016FB,186,80,80,6A,FF
2021-08-14T22:31:17.459Z,1628980277.459 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:31:17.462Z,1628980277.462 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223117.34*5D

2021-08-14T22:31:17.616Z,1628980277.616 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-14T22:31:17.884Z,1628980277.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 315.479980 m, bearing: 268.775840 deg, deltaT: 4.869483 s, approachRate: -0.800911 m/s, LOS rate: -0.219083 deg/s, posRepo size: 4
2021-08-14T22:31:17.886Z,1628980277.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 315.479980 m,
      bearing: 268.775840 deg,
      approachRate: -0.800911 m/s,
      LOS rate: -0.219083 deg/s,
      cmd update: -0.876332 deg/s,
      cmd heading: 236.577200 deg,
      new cmd heading: 234.933756 deg.

2021-08-14T22:31:20.341Z,1628980280.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:31:20.671Z,1628980280.671 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:31:20.671Z,1628980280.671 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:31:20.671Z,1628980280.671 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:31:20.672Z,1628980280.672 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:31:21.069Z,1628980281.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,016FB,186,80,80,6A,FF
2021-08-14T22:31:21.069Z,1628980281.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:31:21.070Z,1628980281.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:31:21.100Z,1628980281.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:31:21.476Z,1628980281.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:31:22.300Z,1628980282.300 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,016C5,187,80,80,6D,FF
2021-08-14T22:31:22.301Z,1628980282.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:31:22.324Z,1628980282.324 [Micromodem](INFO): Nmea in: $SNTTA,0.207883,,,,223122.22*44

2021-08-14T22:31:22.728Z,1628980282.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 312.239990 m, bearing: 266.638619 deg, deltaT: 4.913083 s, approachRate: -0.659462 m/s, LOS rate: -0.435006 deg/s, posRepo size: 4
2021-08-14T22:31:22.730Z,1628980282.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 312.239990 m,
      bearing: 266.638619 deg,
      approachRate: -0.659462 m/s,
      LOS rate: -0.435006 deg/s,
      cmd update: -1.740024 deg/s,
      cmd heading: 232.264339 deg,
      new cmd heading: 232.017599 deg.

2021-08-14T22:31:25.131Z,1628980285.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:31:25.519Z,1628980285.519 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:31:25.519Z,1628980285.519 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:31:25.519Z,1628980285.519 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:31:25.520Z,1628980285.520 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:31:25.929Z,1628980285.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,016C5,187,80,80,6D,FF
2021-08-14T22:31:25.929Z,1628980285.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:31:25.929Z,1628980285.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:31:25.931Z,1628980285.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:31:26.334Z,1628980286.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:31:27.153Z,1628980287.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FF,000,01693,186,80,80,40,FF
2021-08-14T22:31:27.154Z,1628980287.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:31:27.157Z,1628980287.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223127.05*5C

2021-08-14T22:31:27.573Z,1628980287.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 309.239990 m, bearing: 220.488806 deg, deltaT: 4.750254 s, approachRate: -0.631545 m/s, LOS rate: -9.715230 deg/s, posRepo size: 4
2021-08-14T22:31:27.575Z,1628980287.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.239990 m,
      bearing: 220.488806 deg,
      approachRate: -0.631545 m/s,
      LOS rate: -9.715230 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 224.040966 deg,
      new cmd heading: 223.345035 deg.

2021-08-14T22:31:29.981Z,1628980289.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:31:30.393Z,1628980290.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:31:30.393Z,1628980290.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:31:30.393Z,1628980290.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:31:30.394Z,1628980290.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:31:30.777Z,1628980290.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FF,000,01693,186,80,80,40,FF
2021-08-14T22:31:30.777Z,1628980290.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:31:30.777Z,1628980290.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:31:30.779Z,1628980290.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:31:31.180Z,1628980291.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:31:32.001Z,1628980292.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,01665,186,80,80,58,FF
2021-08-14T22:31:32.001Z,1628980292.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:31:32.004Z,1628980292.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223131.90*57

2021-08-14T22:31:32.494Z,1628980292.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 306.480011 m, bearing: 215.162297 deg, deltaT: 4.832028 s, approachRate: -0.571184 m/s, LOS rate: -1.102334 deg/s, posRepo size: 4
2021-08-14T22:31:32.501Z,1628980292.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 306.480011 m,
      bearing: 215.162297 deg,
      approachRate: -0.571184 m/s,
      LOS rate: -1.102334 deg/s,
      cmd update: -4.409337 deg/s,
      cmd heading: 165.826169 deg,
      new cmd heading: 160.179988 deg.

2021-08-14T22:31:34.852Z,1628980294.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:31:35.217Z,1628980295.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:31:35.217Z,1628980295.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:31:35.217Z,1628980295.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:31:35.218Z,1628980295.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:31:35.631Z,1628980295.631 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,01665,186,80,80,58,FF
2021-08-14T22:31:35.631Z,1628980295.631 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:31:35.631Z,1628980295.631 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:31:35.633Z,1628980295.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:31:36.030Z,1628980296.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:31:36.845Z,1628980296.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A1,000,0164A,187,80,80,34,FF
2021-08-14T22:31:36.845Z,1628980296.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:31:36.849Z,1628980296.849 [Micromodem](INFO): Nmea in: $SNTTA,,0.174349,,,223136.75*49

2021-08-14T22:31:37.268Z,1628980297.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 304.859985 m, bearing: 196.866283 deg, deltaT: 4.859889 s, approachRate: -0.333346 m/s, LOS rate: -3.764698 deg/s, posRepo size: 4
2021-08-14T22:31:37.270Z,1628980297.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.859985 m,
      bearing: 196.866283 deg,
      approachRate: -0.333346 m/s,
      LOS rate: -3.764698 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 144.482294 deg,
      new cmd heading: 142.703740 deg.

2021-08-14T22:31:39.694Z,1628980299.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:31:40.073Z,1628980300.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:31:40.073Z,1628980300.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:31:40.073Z,1628980300.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:31:40.074Z,1628980300.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:31:40.473Z,1628980300.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A1,000,0164A,187,80,80,34,FF
2021-08-14T22:31:40.473Z,1628980300.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:31:40.474Z,1628980300.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:31:40.475Z,1628980300.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:31:40.889Z,1628980300.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:31:41.701Z,1628980301.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,01632,185,80,80,A9,FF
2021-08-14T22:31:41.702Z,1628980301.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:31:41.705Z,1628980301.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223141.60*5F

2021-08-14T22:31:42.110Z,1628980302.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 303.420013 m, bearing: 207.439184 deg, deltaT: 4.884789 s, approachRate: -0.294787 m/s, LOS rate: 2.164454 deg/s, posRepo size: 4
2021-08-14T22:31:42.112Z,1628980302.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 303.420013 m,
      bearing: 207.439184 deg,
      approachRate: -0.294787 m/s,
      LOS rate: 2.164454 deg/s,
      cmd update: 8.657815 deg/s,
      cmd heading: 85.621392 deg,
      new cmd heading: 81.534120 deg.

2021-08-14T22:31:44.593Z,1628980304.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:31:44.918Z,1628980304.918 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:31:44.918Z,1628980304.918 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:31:44.919Z,1628980304.919 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:31:44.932Z,1628980304.932 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:31:45.314Z,1628980305.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,01632,185,80,80,A9,FF
2021-08-14T22:31:45.314Z,1628980305.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:31:45.315Z,1628980305.315 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:31:45.317Z,1628980305.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:31:45.772Z,1628980305.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:31:46.554Z,1628980306.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA6,000,0163E,189,80,80,2F,FF
2021-08-14T22:31:46.555Z,1628980306.555 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:31:46.559Z,1628980306.559 [Micromodem](INFO): Nmea in: $SNTTA,,0.373205,,,223146.44*40

2021-08-14T22:31:46.975Z,1628980306.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 304.139984 m, bearing: 211.736670 deg, deltaT: 4.877972 s, approachRate: 0.147596 m/s, LOS rate: 0.880999 deg/s, posRepo size: 4
2021-08-14T22:31:46.977Z,1628980306.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.139984 m,
      bearing: 211.736670 deg,
      approachRate: 0.147596 m/s,
      LOS rate: 0.880999 deg/s,
      cmd update: 3.523994 deg/s,
      cmd heading: 127.853438 deg,
      new cmd heading: 130.686890 deg.

2021-08-14T22:31:49.429Z,1628980309.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:31:49.758Z,1628980309.758 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:31:49.759Z,1628980309.759 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:31:49.759Z,1628980309.759 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:31:49.760Z,1628980309.760 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:31:50.173Z,1628980310.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA6,000,0163E,189,80,80,2F,FF
2021-08-14T22:31:50.173Z,1628980310.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:31:50.174Z,1628980310.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:31:50.179Z,1628980310.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:31:50.572Z,1628980310.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:31:51.427Z,1628980311.427 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223151.30*5B

2021-08-14T22:31:52.277Z,1628980312.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:31:53.801Z,1628980313.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,189,80,80,2F,FF
2021-08-14T22:31:53.802Z,1628980313.802 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,189,80,80,2F,FF
2021-08-14T22:31:53.802Z,1628980313.802 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:31:55.034Z,1628980315.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:31:55.413Z,1628980315.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:31:55.413Z,1628980315.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:31:55.413Z,1628980315.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:31:55.414Z,1628980315.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:31:55.817Z,1628980315.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,189,80,80,2F,FF
2021-08-14T22:31:55.817Z,1628980315.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:31:55.817Z,1628980315.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:31:55.819Z,1628980315.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:31:56.289Z,1628980316.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:31:57.037Z,1628980317.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,01671,187,80,80,40,FF
2021-08-14T22:31:57.037Z,1628980317.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:31:57.477Z,1628980317.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 307.199982 m, bearing: 160.388264 deg, deltaT: 10.403078 s, approachRate: 0.294143 m/s, LOS rate: -4.935886 deg/s, posRepo size: 4
2021-08-14T22:31:57.479Z,1628980317.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.199982 m,
      bearing: 160.388264 deg,
      approachRate: 0.294143 m/s,
      LOS rate: -4.935886 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 164.527444 deg,
      new cmd heading: 166.017442 deg.

2021-08-14T22:31:59.887Z,1628980319.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:32:00.269Z,1628980320.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:32:00.269Z,1628980320.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:32:00.269Z,1628980320.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:32:00.270Z,1628980320.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:32:00.665Z,1628980320.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,01671,187,80,80,40,FF
2021-08-14T22:32:00.665Z,1628980320.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:32:00.665Z,1628980320.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:32:00.667Z,1628980320.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:32:01.090Z,1628980321.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:32:01.897Z,1628980321.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,0168B,186,80,80,50,FF
2021-08-14T22:32:01.897Z,1628980321.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:32:01.900Z,1628980321.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223201.79*50

2021-08-14T22:32:02.383Z,1628980322.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 308.759979 m, bearing: 180.874597 deg, deltaT: 4.893864 s, approachRate: 0.318766 m/s, LOS rate: 4.186126 deg/s, posRepo size: 4
2021-08-14T22:32:02.410Z,1628980322.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 308.759979 m,
      bearing: 180.874597 deg,
      approachRate: 0.318766 m/s,
      LOS rate: 4.186126 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 106.183359 deg,
      new cmd heading: 100.576635 deg.

2021-08-14T22:32:04.732Z,1628980324.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:32:05.109Z,1628980325.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:32:05.109Z,1628980325.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:32:05.109Z,1628980325.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:32:05.110Z,1628980325.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:32:05.517Z,1628980325.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,0168B,186,80,80,50,FF
2021-08-14T22:32:05.517Z,1628980325.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:32:05.518Z,1628980325.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:32:05.519Z,1628980325.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:32:05.921Z,1628980325.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:32:06.749Z,1628980326.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,016A6,186,80,80,4D,FF
2021-08-14T22:32:06.749Z,1628980326.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:32:06.753Z,1628980326.753 [Micromodem](INFO): Nmea in: $SNTTA,0.231217,,,,223206.64*41

2021-08-14T22:32:07.168Z,1628980327.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 310.380005 m, bearing: 173.647519 deg, deltaT: 4.850208 s, approachRate: 0.334012 m/s, LOS rate: -1.490055 deg/s, posRepo size: 4
2021-08-14T22:32:07.170Z,1628980327.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.380005 m,
      bearing: 173.647519 deg,
      approachRate: 0.334012 m/s,
      LOS rate: -1.490055 deg/s,
      cmd update: -5.960221 deg/s,
      cmd heading: 164.716013 deg,
      new cmd heading: 169.203233 deg.

2021-08-14T22:32:09.628Z,1628980329.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:32:09.965Z,1628980329.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:32:09.966Z,1628980329.966 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:32:09.966Z,1628980329.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:32:09.967Z,1628980329.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:32:10.397Z,1628980330.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,016A6,186,80,80,4D,FF
2021-08-14T22:32:10.397Z,1628980330.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:32:10.397Z,1628980330.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:32:10.399Z,1628980330.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:32:10.806Z,1628980330.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:32:11.575Z,1628980331.575 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,016CD,186,80,80,77,FF
2021-08-14T22:32:11.577Z,1628980331.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:32:11.586Z,1628980331.586 [Micromodem](INFO): Nmea in: $SNTTA,0.210805,,,,223211.52*48

2021-08-14T22:32:12.008Z,1628980332.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 312.720001 m, bearing: 155.332654 deg, deltaT: 4.865408 s, approachRate: 0.480946 m/s, LOS rate: -3.764302 deg/s, posRepo size: 4
2021-08-14T22:32:12.009Z,1628980332.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 312.72 m. Rolling out.
2021-08-14T22:32:12.009Z,1628980332.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T22:32:14.463Z,1628980334.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:32:14.817Z,1628980334.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:32:14.817Z,1628980334.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:32:14.817Z,1628980334.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:32:14.818Z,1628980334.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:32:15.217Z,1628980335.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,016CD,186,80,80,77,FF
2021-08-14T22:32:15.217Z,1628980335.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:32:15.217Z,1628980335.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:32:15.219Z,1628980335.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:32:15.625Z,1628980335.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:32:16.446Z,1628980336.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223216.34*5F

2021-08-14T22:32:17.259Z,1628980337.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:32:18.849Z,1628980338.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,77,FF
2021-08-14T22:32:18.849Z,1628980338.849 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,77,FF
2021-08-14T22:32:18.849Z,1628980338.849 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:32:20.094Z,1628980340.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:32:20.465Z,1628980340.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:32:20.465Z,1628980340.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:32:20.465Z,1628980340.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:32:20.466Z,1628980340.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:32:20.869Z,1628980340.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,77,FF
2021-08-14T22:32:20.869Z,1628980340.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:32:20.869Z,1628980340.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:32:20.871Z,1628980340.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:32:21.276Z,1628980341.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:32:22.106Z,1628980342.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223221.99*5C

2021-08-14T22:32:22.927Z,1628980342.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:32:24.509Z,1628980344.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,77,FF
2021-08-14T22:32:24.509Z,1628980344.509 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,77,FF
2021-08-14T22:32:24.510Z,1628980344.510 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:32:25.766Z,1628980345.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:32:26.118Z,1628980346.118 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:32:26.118Z,1628980346.118 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:32:26.119Z,1628980346.119 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:32:26.121Z,1628980346.121 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:32:26.534Z,1628980346.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,77,FF
2021-08-14T22:32:26.534Z,1628980346.534 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:32:26.534Z,1628980346.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:32:26.536Z,1628980346.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:32:26.969Z,1628980346.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:32:27.766Z,1628980347.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223227.66*5A

2021-08-14T22:32:28.610Z,1628980348.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:32:30.170Z,1628980350.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,77,FF
2021-08-14T22:32:30.171Z,1628980350.171 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,77,FF
2021-08-14T22:32:30.172Z,1628980350.172 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:32:31.423Z,1628980351.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:32:31.785Z,1628980351.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:32:31.785Z,1628980351.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:32:31.785Z,1628980351.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:32:31.786Z,1628980351.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:32:32.204Z,1628980352.204 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,77,FF
2021-08-14T22:32:32.205Z,1628980352.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:32:32.205Z,1628980352.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:32:32.215Z,1628980352.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:32:32.639Z,1628980352.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:32:33.469Z,1628980353.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC6,000,0176C,187,80,80,73,FF
2021-08-14T22:32:33.469Z,1628980353.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:32:33.473Z,1628980353.473 [Micromodem](INFO): Nmea in: $SNTTA,0.217163,,,,223233.33*41

2021-08-14T22:32:33.864Z,1628980353.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 322.259979 m, bearing: 156.504346 deg, deltaT: 21.836440 s, approachRate: 0.436883 m/s, LOS rate: 0.053658 deg/s, posRepo size: 4
2021-08-14T22:32:36.318Z,1628980356.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:32:36.665Z,1628980356.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:32:36.665Z,1628980356.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:32:36.665Z,1628980356.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:32:36.666Z,1628980356.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:32:37.069Z,1628980357.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC6,000,0176C,187,80,80,73,FF
2021-08-14T22:32:37.070Z,1628980357.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:32:37.070Z,1628980357.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:32:37.071Z,1628980357.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:32:37.488Z,1628980357.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:32:38.305Z,1628980358.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,01793,186,80,80,6F,FF
2021-08-14T22:32:38.305Z,1628980358.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:32:38.333Z,1628980358.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223238.19*5C

2021-08-14T22:32:38.722Z,1628980358.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 324.600006 m, bearing: 157.308942 deg, deltaT: 4.898349 s, approachRate: 0.477717 m/s, LOS rate: 0.164259 deg/s, posRepo size: 4
2021-08-14T22:32:41.119Z,1628980361.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:32:41.513Z,1628980361.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:32:41.513Z,1628980361.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:32:41.514Z,1628980361.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:32:41.515Z,1628980361.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:32:41.909Z,1628980361.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,01793,186,80,80,6F,FF
2021-08-14T22:32:41.909Z,1628980361.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:32:41.909Z,1628980361.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:32:41.911Z,1628980361.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:32:42.340Z,1628980362.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:32:43.125Z,1628980363.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB6,000,017C1,187,80,80,60,FF
2021-08-14T22:32:43.125Z,1628980363.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:32:43.587Z,1628980363.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 327.359985 m, bearing: 157.858868 deg, deltaT: 4.776923 s, approachRate: 0.577773 m/s, LOS rate: 0.115121 deg/s, posRepo size: 4
2021-08-14T22:32:45.991Z,1628980365.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:32:46.365Z,1628980366.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:32:46.365Z,1628980366.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:32:46.365Z,1628980366.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:32:46.366Z,1628980366.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:32:46.765Z,1628980366.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB6,000,017C1,187,80,80,60,FF
2021-08-14T22:32:46.766Z,1628980366.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:32:46.766Z,1628980366.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:32:46.767Z,1628980366.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:32:47.173Z,1628980367.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:32:48.001Z,1628980368.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,017EA,186,80,80,4F,FF
2021-08-14T22:32:48.001Z,1628980368.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:32:48.005Z,1628980368.005 [Micromodem](INFO): Nmea in: $SNTTA,0.225838,,,,223247.89*45

2021-08-14T22:32:48.473Z,1628980368.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 329.820007 m, bearing: 160.937548 deg, deltaT: 4.872557 s, approachRate: 0.504873 m/s, LOS rate: 0.631841 deg/s, posRepo size: 4
2021-08-14T22:32:50.815Z,1628980370.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:32:51.221Z,1628980371.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:32:51.221Z,1628980371.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:32:51.221Z,1628980371.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:32:51.222Z,1628980371.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:32:51.609Z,1628980371.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,017EA,186,80,80,4F,FF
2021-08-14T22:32:51.609Z,1628980371.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:32:51.609Z,1628980371.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:32:51.611Z,1628980371.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:32:52.012Z,1628980372.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:32:52.843Z,1628980372.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF7,000,01815,187,80,80,3F,FF
2021-08-14T22:32:52.843Z,1628980372.843 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:32:52.847Z,1628980372.847 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223252.73*5C

2021-08-14T22:32:53.270Z,1628980373.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 332.399994 m, bearing: 154.647723 deg, deltaT: 4.814331 s, approachRate: 0.535897 m/s, LOS rate: -1.306480 deg/s, posRepo size: 4
2021-08-14T22:32:55.691Z,1628980375.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:32:56.049Z,1628980376.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:32:56.049Z,1628980376.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:32:56.049Z,1628980376.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:32:56.050Z,1628980376.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:32:56.473Z,1628980376.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF7,000,01815,187,80,80,3F,FF
2021-08-14T22:32:56.473Z,1628980376.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:32:56.474Z,1628980376.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:32:56.475Z,1628980376.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:32:56.874Z,1628980376.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:32:57.672Z,1628980377.672 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C6,000,01841,189,80,80,46,FF
2021-08-14T22:32:57.677Z,1628980377.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:32:57.684Z,1628980377.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223257.60*5B

2021-08-14T22:32:58.112Z,1628980378.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 335.039978 m, bearing: 105.743022 deg, deltaT: 4.884589 s, approachRate: 0.540472 m/s, LOS rate: -10.012040 deg/s, posRepo size: 4
2021-08-14T22:33:00.563Z,1628980380.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:33:00.901Z,1628980380.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:33:00.901Z,1628980380.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:33:00.901Z,1628980380.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:33:00.902Z,1628980380.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:33:01.337Z,1628980381.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C6,000,01841,189,80,80,46,FF
2021-08-14T22:33:01.338Z,1628980381.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:33:01.338Z,1628980381.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:33:01.345Z,1628980381.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:33:01.718Z,1628980381.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:33:02.515Z,1628980382.515 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,0186B,189,80,80,43,FF
2021-08-14T22:33:02.517Z,1628980382.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:33:02.523Z,1628980382.523 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223302.46*5E

2021-08-14T22:33:02.974Z,1628980382.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 337.559998 m, bearing: 112.285318 deg, deltaT: 4.871919 s, approachRate: 0.517254 m/s, LOS rate: 1.342858 deg/s, posRepo size: 4
2021-08-14T22:33:05.442Z,1628980385.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:33:05.749Z,1628980385.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:33:05.749Z,1628980385.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:33:05.749Z,1628980385.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:33:05.750Z,1628980385.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:33:06.162Z,1628980386.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22D,000,0186B,189,80,80,43,FF
2021-08-14T22:33:06.162Z,1628980386.162 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:33:06.163Z,1628980386.163 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:33:06.178Z,1628980386.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:33:06.572Z,1628980386.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:33:07.385Z,1628980387.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223307.30*5A

2021-08-14T22:33:08.254Z,1628980388.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:33:09.785Z,1628980389.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,189,80,80,43,FF
2021-08-14T22:33:09.785Z,1628980389.785 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,189,80,80,43,FF
2021-08-14T22:33:09.785Z,1628980389.785 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:33:11.073Z,1628980391.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:33:11.410Z,1628980391.410 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:33:11.410Z,1628980391.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:33:11.411Z,1628980391.411 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:33:11.411Z,1628980391.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:33:11.801Z,1628980391.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,189,80,80,43,FF
2021-08-14T22:33:11.801Z,1628980391.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:33:11.802Z,1628980391.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:33:11.803Z,1628980391.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:33:12.252Z,1628980392.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:33:13.045Z,1628980393.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA2,000,018C3,189,80,80,3D,FF
2021-08-14T22:33:13.046Z,1628980393.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:33:13.049Z,1628980393.049 [Micromodem](INFO): Nmea in: $SNTTA,,0.129728,,,223312.92*4F

2021-08-14T22:33:13.462Z,1628980393.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 342.839996 m, bearing: 170.161199 deg, deltaT: 10.493970 s, approachRate: 0.503146 m/s, LOS rate: 5.515156 deg/s, posRepo size: 4
2021-08-14T22:33:15.863Z,1628980395.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:33:16.269Z,1628980396.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:33:16.269Z,1628980396.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:33:16.269Z,1628980396.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:33:16.270Z,1628980396.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:33:16.653Z,1628980396.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA2,000,018C3,189,80,80,3D,FF
2021-08-14T22:33:16.653Z,1628980396.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:33:16.653Z,1628980396.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:33:16.655Z,1628980396.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:33:17.061Z,1628980397.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:33:17.889Z,1628980397.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,018F8,187,80,80,59,FF
2021-08-14T22:33:17.889Z,1628980397.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:33:17.892Z,1628980397.892 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223317.78*57

2021-08-14T22:33:18.427Z,1628980398.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 346.019989 m, bearing: 164.532919 deg, deltaT: 4.800344 s, approachRate: 0.662451 m/s, LOS rate: -1.172474 deg/s, posRepo size: 4
2021-08-14T22:33:20.462Z,1628980400.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:33:20.753Z,1628980400.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:33:20.753Z,1628980400.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:33:20.753Z,1628980400.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:33:20.754Z,1628980400.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:33:21.157Z,1628980401.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,018F8,187,80,80,59,FF
2021-08-14T22:33:21.157Z,1628980401.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:33:21.157Z,1628980401.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:33:21.159Z,1628980401.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:33:21.570Z,1628980401.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:33:22.409Z,1628980402.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5D,000,0191F,186,80,80,53,FF
2021-08-14T22:33:22.410Z,1628980402.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:33:22.432Z,1628980402.432 [Micromodem](INFO): Nmea in: $SNTTA,0.234274,,,,223322.28*4E

2021-08-14T22:33:22.804Z,1628980402.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 348.359985 m, bearing: 160.268340 deg, deltaT: 4.633625 s, approachRate: 0.505003 m/s, LOS rate: -0.920355 deg/s, posRepo size: 4
2021-08-14T22:33:25.224Z,1628980405.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:33:25.601Z,1628980405.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:33:25.601Z,1628980405.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:33:25.601Z,1628980405.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:33:25.602Z,1628980405.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:33:26.009Z,1628980406.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5D,000,0191F,186,80,80,53,FF
2021-08-14T22:33:26.009Z,1628980406.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:33:26.010Z,1628980406.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:33:26.011Z,1628980406.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:33:26.428Z,1628980406.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:33:27.241Z,1628980407.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,0194B,186,80,80,68,FF
2021-08-14T22:33:27.241Z,1628980407.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:33:27.244Z,1628980407.244 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223327.13*59

2021-08-14T22:33:27.688Z,1628980407.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 351.000000 m, bearing: 161.478171 deg, deltaT: 4.809154 s, approachRate: 0.548956 m/s, LOS rate: 0.251568 deg/s, posRepo size: 4
2021-08-14T22:33:30.072Z,1628980410.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:33:30.449Z,1628980410.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:33:30.449Z,1628980410.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:33:30.449Z,1628980410.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:33:30.450Z,1628980410.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:33:30.861Z,1628980410.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,0194B,186,80,80,68,FF
2021-08-14T22:33:30.861Z,1628980410.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:33:30.861Z,1628980410.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:33:30.863Z,1628980410.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:33:31.268Z,1628980411.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:33:32.090Z,1628980412.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223331.98*5D

2021-08-14T22:33:32.891Z,1628980412.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:33:34.485Z,1628980414.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,68,FF
2021-08-14T22:33:34.485Z,1628980414.485 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,68,FF
2021-08-14T22:33:34.486Z,1628980414.486 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:33:35.738Z,1628980415.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:33:36.105Z,1628980416.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:33:36.105Z,1628980416.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:33:36.105Z,1628980416.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:33:36.106Z,1628980416.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:33:36.509Z,1628980416.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,68,FF
2021-08-14T22:33:36.509Z,1628980416.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:33:36.509Z,1628980416.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:33:36.511Z,1628980416.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:33:36.932Z,1628980416.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:33:37.745Z,1628980417.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,293,000,019A3,189,80,80,30,FF
2021-08-14T22:33:37.746Z,1628980417.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:33:37.748Z,1628980417.748 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223337.63*5F

2021-08-14T22:33:38.223Z,1628980418.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 356.279968 m, bearing: 108.583609 deg, deltaT: 10.459936 s, approachRate: 0.504780 m/s, LOS rate: -5.056873 deg/s, posRepo size: 4
2021-08-14T22:33:40.613Z,1628980420.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:33:40.953Z,1628980420.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:33:40.953Z,1628980420.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:33:40.953Z,1628980420.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:33:40.954Z,1628980420.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:33:41.393Z,1628980421.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
293,000,019A3,189,80,80,30,FF
2021-08-14T22:33:41.393Z,1628980421.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:33:41.393Z,1628980421.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:33:41.395Z,1628980421.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:33:41.770Z,1628980421.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:33:42.579Z,1628980422.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E19,000,019D5,187,80,80,5B,FF
2021-08-14T22:33:42.581Z,1628980422.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:33:42.587Z,1628980422.587 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223342.51*5C

2021-08-14T22:33:43.022Z,1628980423.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 359.279968 m, bearing: 166.409868 deg, deltaT: 4.861877 s, approachRate: 0.617046 m/s, LOS rate: 11.893814 deg/s, posRepo size: 4
2021-08-14T22:33:45.442Z,1628980425.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:33:45.797Z,1628980425.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:33:45.797Z,1628980425.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:33:45.797Z,1628980425.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:33:45.798Z,1628980425.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:33:46.249Z,1628980426.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E19,000,019D5,187,80,80,5B,FF
2021-08-14T22:33:46.249Z,1628980426.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:33:46.249Z,1628980426.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:33:46.251Z,1628980426.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:33:46.644Z,1628980426.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:33:47.473Z,1628980427.473 [Micromodem](INFO): Nmea in: $SNTTA,0.248023,,,,223347.37*48

2021-08-14T22:33:48.372Z,1628980428.372 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:33:49.873Z,1628980429.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,5B,FF
2021-08-14T22:33:49.873Z,1628980429.873 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,5B,FF
2021-08-14T22:33:49.873Z,1628980429.873 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:33:51.094Z,1628980431.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:33:51.497Z,1628980431.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:33:51.497Z,1628980431.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:33:51.497Z,1628980431.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:33:51.498Z,1628980431.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:33:51.900Z,1628980431.900 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,5B,FF
2021-08-14T22:33:51.900Z,1628980431.900 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:33:51.901Z,1628980431.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:33:51.902Z,1628980431.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:33:52.292Z,1628980432.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:33:52.313Z,1628980432.313 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:33:53.117Z,1628980433.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,01A2A,189,80,80,37,FF
2021-08-14T22:33:53.118Z,1628980433.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:33:53.120Z,1628980433.120 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223353.02*5A

2021-08-14T22:33:53.558Z,1628980433.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 364.379974 m, bearing: 113.124585 deg, deltaT: 10.458174 s, approachRate: 0.487657 m/s, LOS rate: -5.095085 deg/s, posRepo size: 4
2021-08-14T22:33:55.949Z,1628980435.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:33:56.360Z,1628980436.360 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:33:56.360Z,1628980436.360 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:33:56.360Z,1628980436.360 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:33:56.361Z,1628980436.361 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:33:56.741Z,1628980436.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,01A2A,189,80,80,37,FF
2021-08-14T22:33:56.741Z,1628980436.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:33:56.741Z,1628980436.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:33:56.743Z,1628980436.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:33:57.149Z,1628980437.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:33:57.965Z,1628980437.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E43,000,01A5C,186,80,80,71,FF
2021-08-14T22:33:57.965Z,1628980437.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:33:57.992Z,1628980437.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223357.87*53

2021-08-14T22:33:58.467Z,1628980438.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 367.379974 m, bearing: 164.309503 deg, deltaT: 4.885035 s, approachRate: 0.614120 m/s, LOS rate: 10.477902 deg/s, posRepo size: 4
2021-08-14T22:34:00.814Z,1628980440.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:01.185Z,1628980441.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:34:01.185Z,1628980441.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:34:01.185Z,1628980441.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:34:01.186Z,1628980441.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:34:01.593Z,1628980441.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E43,000,01A5C,186,80,80,71,FF
2021-08-14T22:34:01.593Z,1628980441.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:34:01.593Z,1628980441.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:34:01.595Z,1628980441.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:34:01.989Z,1628980441.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:34:02.810Z,1628980442.810 [Micromodem](INFO): Nmea in: $SNTTA,,0.233135,,,223402.71*46

2021-08-14T22:34:03.638Z,1628980443.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:05.217Z,1628980445.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,71,FF
2021-08-14T22:34:05.217Z,1628980445.217 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,71,FF
2021-08-14T22:34:05.217Z,1628980445.217 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:34:06.516Z,1628980446.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:06.833Z,1628980446.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:34:06.833Z,1628980446.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:34:06.833Z,1628980446.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:34:06.834Z,1628980446.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:34:07.249Z,1628980447.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,71,FF
2021-08-14T22:34:07.249Z,1628980447.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:34:07.249Z,1628980447.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:34:07.251Z,1628980447.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:34:07.644Z,1628980447.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:34:08.449Z,1628980448.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F18,000,01AAF,187,80,80,27,FF
2021-08-14T22:34:08.450Z,1628980448.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:34:08.453Z,1628980448.453 [Micromodem](INFO): Nmea in: $SNTTA,0.403668,0.403468,,,223408.37*57

2021-08-14T22:34:08.900Z,1628980448.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 372.359985 m, bearing: 153.233709 deg, deltaT: 10.517576 s, approachRate: 0.473494 m/s, LOS rate: -1.053075 deg/s, posRepo size: 4
2021-08-14T22:34:11.368Z,1628980451.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:11.677Z,1628980451.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:34:11.677Z,1628980451.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:34:11.677Z,1628980451.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:34:11.678Z,1628980451.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:34:12.098Z,1628980452.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F18,000,01AAF,187,80,80,27,FF
2021-08-14T22:34:12.098Z,1628980452.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:34:12.098Z,1628980452.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:34:12.101Z,1628980452.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:34:12.501Z,1628980452.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:34:13.355Z,1628980453.355 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223413.22*5B

2021-08-14T22:34:14.142Z,1628980454.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:15.732Z,1628980455.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,187,80,80,27,FF
2021-08-14T22:34:15.733Z,1628980455.733 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,187,80,80,27,FF
2021-08-14T22:34:15.733Z,1628980455.733 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:34:16.977Z,1628980456.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:17.365Z,1628980457.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:34:17.366Z,1628980457.366 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:34:17.366Z,1628980457.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:34:17.367Z,1628980457.367 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:34:17.747Z,1628980457.747 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,187,80,80,27,FF
2021-08-14T22:34:17.747Z,1628980457.747 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:34:17.747Z,1628980457.747 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:34:17.749Z,1628980457.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:34:18.150Z,1628980458.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:34:18.991Z,1628980458.991 [Micromodem](INFO): Nmea in: $SNTTA,,0.155668,,,223418.87*48

2021-08-14T22:34:19.807Z,1628980459.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:21.401Z,1628980461.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,187,80,80,27,FF
2021-08-14T22:34:21.401Z,1628980461.401 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,187,80,80,27,FF
2021-08-14T22:34:21.402Z,1628980461.402 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:34:22.672Z,1628980462.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:22.993Z,1628980462.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:34:22.993Z,1628980462.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:34:22.993Z,1628980462.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:34:22.994Z,1628980462.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:34:23.405Z,1628980463.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,187,80,80,27,FF
2021-08-14T22:34:23.405Z,1628980463.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:34:23.405Z,1628980463.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:34:23.407Z,1628980463.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:34:23.801Z,1628980463.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:34:24.633Z,1628980464.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,330,000,01B3C,18A,80,80,1C,FF
2021-08-14T22:34:24.633Z,1628980464.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:34:24.660Z,1628980464.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223424.53*59

2021-08-14T22:34:25.056Z,1628980465.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 380.819977 m, bearing: 100.290857 deg, deltaT: 16.211558 s, approachRate: 0.521849 m/s, LOS rate: -3.265747 deg/s, posRepo size: 4
2021-08-14T22:34:27.465Z,1628980467.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:27.845Z,1628980467.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:34:27.846Z,1628980467.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:34:27.846Z,1628980467.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:34:27.847Z,1628980467.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:34:28.269Z,1628980468.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
330,000,01B3C,18A,80,80,1C,FF
2021-08-14T22:34:28.269Z,1628980468.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:34:28.270Z,1628980468.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:34:28.271Z,1628980468.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:34:28.668Z,1628980468.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:34:29.467Z,1628980469.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,01B6C,186,80,80,1F,FF
2021-08-14T22:34:29.469Z,1628980469.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:34:29.473Z,1628980469.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223429.39*58

2021-08-14T22:34:29.896Z,1628980469.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 383.700012 m, bearing: 151.457314 deg, deltaT: 4.788952 s, approachRate: 0.601392 m/s, LOS rate: 10.684270 deg/s, posRepo size: 4
2021-08-14T22:34:32.387Z,1628980472.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:32.693Z,1628980472.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:34:32.693Z,1628980472.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:34:32.693Z,1628980472.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:34:32.694Z,1628980472.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:34:33.089Z,1628980473.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,01B6C,186,80,80,1F,FF
2021-08-14T22:34:33.089Z,1628980473.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:34:33.089Z,1628980473.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:34:33.091Z,1628980473.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:34:33.496Z,1628980473.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:34:34.356Z,1628980474.356 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223434.21*5D

2021-08-14T22:34:35.137Z,1628980475.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:36.729Z,1628980476.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:34:36.729Z,1628980476.729 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:34:36.729Z,1628980476.729 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:34:37.966Z,1628980477.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:38.367Z,1628980478.367 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:34:38.368Z,1628980478.368 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:34:38.368Z,1628980478.368 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:34:38.369Z,1628980478.369 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:34:38.753Z,1628980478.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:34:38.753Z,1628980478.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:34:38.753Z,1628980478.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:34:38.755Z,1628980478.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:34:39.153Z,1628980479.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:34:39.971Z,1628980479.971 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223439.88*53

2021-08-14T22:34:40.477Z,1628980480.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:42.409Z,1628980482.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:34:42.409Z,1628980482.409 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:34:42.410Z,1628980482.410 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:34:43.207Z,1628980483.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:43.593Z,1628980483.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:34:43.593Z,1628980483.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:34:43.593Z,1628980483.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:34:43.594Z,1628980483.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:34:44.005Z,1628980484.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:34:44.005Z,1628980484.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:34:44.006Z,1628980484.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:34:44.007Z,1628980484.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:34:44.417Z,1628980484.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:34:45.234Z,1628980485.234 [Micromodem](INFO): Nmea in: $SNTTA,0.263564,,,,223445.13*44

2021-08-14T22:34:46.039Z,1628980486.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:47.633Z,1628980487.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:34:47.633Z,1628980487.633 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:34:47.633Z,1628980487.633 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:34:48.863Z,1628980488.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:49.249Z,1628980489.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:34:49.249Z,1628980489.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:34:49.249Z,1628980489.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:34:49.250Z,1628980489.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:34:49.657Z,1628980489.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:34:49.658Z,1628980489.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:34:49.658Z,1628980489.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:34:49.659Z,1628980489.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:34:50.065Z,1628980490.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:34:50.890Z,1628980490.890 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223450.78*53

2021-08-14T22:34:51.701Z,1628980491.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:53.289Z,1628980493.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:34:53.289Z,1628980493.289 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:34:53.289Z,1628980493.289 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:34:54.570Z,1628980494.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:54.910Z,1628980494.910 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:34:54.910Z,1628980494.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:34:54.910Z,1628980494.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:34:54.911Z,1628980494.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:34:55.310Z,1628980495.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:34:55.310Z,1628980495.310 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:34:55.310Z,1628980495.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:34:55.337Z,1628980495.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:34:55.720Z,1628980495.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:34:56.523Z,1628980496.523 [Micromodem](INFO): Nmea in: $SNTTA,0.361605,0.362343,,,223456.46*5C

2021-08-14T22:34:57.408Z,1628980497.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:34:58.950Z,1628980498.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:34:58.951Z,1628980498.951 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:34:58.951Z,1628980498.951 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:35:00.227Z,1628980500.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:00.581Z,1628980500.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:35:00.582Z,1628980500.582 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:35:00.582Z,1628980500.582 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:35:00.583Z,1628980500.583 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:35:00.965Z,1628980500.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:00.965Z,1628980500.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:35:00.965Z,1628980500.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:35:00.967Z,1628980500.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:35:01.397Z,1628980501.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:35:02.231Z,1628980502.231 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223502.09*53

2021-08-14T22:35:03.014Z,1628980503.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:04.249Z,1628980504.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:04.250Z,1628980504.250 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:04.250Z,1628980504.250 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:35:05.870Z,1628980505.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:06.253Z,1628980506.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:35:06.253Z,1628980506.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:35:06.253Z,1628980506.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:35:06.254Z,1628980506.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:35:06.641Z,1628980506.641 [DUSBL_Hydroid](INFO): DUSBL response received:63,E4
!U1,P
63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:06.641Z,1628980506.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:35:06.641Z,1628980506.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:35:06.643Z,1628980506.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:35:07.037Z,1628980507.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:35:07.862Z,1628980507.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223507.77*5F

2021-08-14T22:35:08.666Z,1628980508.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:10.261Z,1628980510.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:10.261Z,1628980510.261 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:10.261Z,1628980510.261 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:35:11.531Z,1628980511.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:11.877Z,1628980511.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:35:11.877Z,1628980511.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:35:11.877Z,1628980511.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:35:11.878Z,1628980511.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:35:12.301Z,1628980512.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:12.301Z,1628980512.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:35:12.301Z,1628980512.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:35:12.306Z,1628980512.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:35:12.692Z,1628980512.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:35:13.490Z,1628980513.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223513.43*5D

2021-08-14T22:35:14.387Z,1628980514.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:15.917Z,1628980515.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:15.917Z,1628980515.917 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:15.917Z,1628980515.917 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:35:17.153Z,1628980517.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:17.529Z,1628980517.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:35:17.529Z,1628980517.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:35:17.530Z,1628980517.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:35:17.530Z,1628980517.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:35:17.929Z,1628980517.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:17.929Z,1628980517.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:35:17.929Z,1628980517.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:35:17.931Z,1628980517.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:35:18.355Z,1628980518.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:35:19.170Z,1628980519.170 [Micromodem](INFO): Nmea in: $SNTTA,,0.024627,,,223519.05*4E

2021-08-14T22:35:19.967Z,1628980519.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:21.573Z,1628980521.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:21.574Z,1628980521.574 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:21.574Z,1628980521.574 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:35:22.806Z,1628980522.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:23.181Z,1628980523.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:35:23.181Z,1628980523.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:35:23.181Z,1628980523.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:35:23.182Z,1628980523.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:35:23.593Z,1628980523.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:23.593Z,1628980523.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:35:23.593Z,1628980523.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:35:23.595Z,1628980523.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:35:23.989Z,1628980523.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:35:24.846Z,1628980524.846 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223524.72*5B

2021-08-14T22:35:25.643Z,1628980525.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:27.221Z,1628980527.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:27.221Z,1628980527.221 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:27.222Z,1628980527.222 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:35:28.511Z,1628980528.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:28.837Z,1628980528.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:35:28.837Z,1628980528.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:35:28.837Z,1628980528.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:35:28.838Z,1628980528.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:35:29.241Z,1628980529.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:29.241Z,1628980529.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:35:29.241Z,1628980529.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:35:29.243Z,1628980529.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:35:29.656Z,1628980529.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:35:30.463Z,1628980530.463 [Micromodem](INFO): Nmea in: $SNTTA,0.408389,0.408508,,,223530.36*51

2021-08-14T22:35:31.298Z,1628980531.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:32.878Z,1628980532.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:32.878Z,1628980532.878 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:32.878Z,1628980532.878 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:35:34.116Z,1628980534.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:34.493Z,1628980534.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:35:34.493Z,1628980534.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:35:34.493Z,1628980534.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:35:34.494Z,1628980534.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:35:34.905Z,1628980534.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:34.905Z,1628980534.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:35:34.905Z,1628980534.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:35:34.907Z,1628980534.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:35:35.333Z,1628980535.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:35:36.139Z,1628980536.139 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223536.03*5E

2021-08-14T22:35:36.964Z,1628980536.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:38.545Z,1628980538.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:38.546Z,1628980538.546 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:38.546Z,1628980538.546 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:35:39.845Z,1628980539.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:40.171Z,1628980540.171 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:35:40.171Z,1628980540.171 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:35:40.176Z,1628980540.176 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:35:40.177Z,1628980540.177 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:35:40.561Z,1628980540.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,1F,FF
2021-08-14T22:35:40.561Z,1628980540.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:35:40.561Z,1628980540.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:35:40.563Z,1628980540.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:35:41.030Z,1628980541.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:35:41.825Z,1628980541.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,01E2C,186,80,80,33,FF
2021-08-14T22:35:41.825Z,1628980541.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:35:41.828Z,1628980541.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223541.68*53

2021-08-14T22:35:42.358Z,1628980542.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 425.939972 m, bearing: 160.010145 deg, deltaT: 72.324773 s, approachRate: 0.584032 m/s, LOS rate: 0.118256 deg/s, posRepo size: 4
2021-08-14T22:35:44.690Z,1628980544.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:45.057Z,1628980545.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:35:45.057Z,1628980545.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:35:45.057Z,1628980545.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:35:45.058Z,1628980545.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:35:45.469Z,1628980545.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,01E2C,186,80,80,33,FF
2021-08-14T22:35:45.469Z,1628980545.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:35:45.469Z,1628980545.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:35:45.471Z,1628980545.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:35:45.877Z,1628980545.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:35:46.694Z,1628980546.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223546.59*56

2021-08-14T22:35:47.517Z,1628980547.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:49.102Z,1628980549.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,33,FF
2021-08-14T22:35:49.102Z,1628980549.102 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,33,FF
2021-08-14T22:35:49.102Z,1628980549.102 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:35:50.394Z,1628980550.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:50.709Z,1628980550.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:35:50.709Z,1628980550.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:35:50.709Z,1628980550.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:35:50.710Z,1628980550.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:35:51.117Z,1628980551.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,33,FF
2021-08-14T22:35:51.117Z,1628980551.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:35:51.117Z,1628980551.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:35:51.119Z,1628980551.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:35:51.533Z,1628980551.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:35:52.345Z,1628980552.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,01E91,185,80,80,38,FF
2021-08-14T22:35:52.346Z,1628980552.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:35:52.782Z,1628980552.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 431.999969 m, bearing: 141.569727 deg, deltaT: 10.570807 s, approachRate: 0.573277 m/s, LOS rate: -1.744466 deg/s, posRepo size: 4
2021-08-14T22:35:55.185Z,1628980555.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:55.561Z,1628980555.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:35:55.561Z,1628980555.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:35:55.562Z,1628980555.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:35:55.562Z,1628980555.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:35:55.969Z,1628980555.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,01E91,185,80,80,38,FF
2021-08-14T22:35:55.970Z,1628980555.970 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:35:55.970Z,1628980555.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:35:55.971Z,1628980555.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:35:56.400Z,1628980556.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:35:57.195Z,1628980557.195 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223557.09*53

2021-08-14T22:35:58.027Z,1628980558.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:35:59.205Z,1628980559.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,07555,187,80,80,46,FF
2021-08-14T22:35:59.205Z,1628980559.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:35:59.650Z,1628980559.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1764.720093 m, bearing: 146.957367 deg, deltaT: 6.859734 s, approachRate: 194.281601 m/s, LOS rate: 0.785401 deg/s, posRepo size: 4
2021-08-14T22:36:02.075Z,1628980562.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:02.429Z,1628980562.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:36:02.429Z,1628980562.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:36:02.429Z,1628980562.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:36:02.430Z,1628980562.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:36:02.833Z,1628980562.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,07555,187,80,80,46,FF
2021-08-14T22:36:02.833Z,1628980562.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:36:02.833Z,1628980562.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:36:02.835Z,1628980562.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:36:03.250Z,1628980563.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:36:04.069Z,1628980564.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,01F04,184,80,80,43,FF
2021-08-14T22:36:04.070Z,1628980564.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:36:04.072Z,1628980564.072 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223603.96*57

2021-08-14T22:36:04.529Z,1628980564.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 438.899994 m, bearing: 139.116965 deg, deltaT: 4.827219 s, approachRate: -274.655060 m/s, LOS rate: -1.624207 deg/s, posRepo size: 4
2021-08-14T22:36:06.902Z,1628980566.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:07.277Z,1628980567.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:36:07.277Z,1628980567.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:36:07.277Z,1628980567.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:36:07.278Z,1628980567.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:36:07.681Z,1628980567.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,01F04,184,80,80,43,FF
2021-08-14T22:36:07.681Z,1628980567.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:36:07.681Z,1628980567.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:36:07.683Z,1628980567.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:36:08.105Z,1628980568.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:36:08.491Z,1628980568.491 [Micromodem](INFO): Nmea in: $SNTTA,0.185796,0.185640,,,223608.81*50

2021-08-14T22:36:08.905Z,1628980568.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,01F39,186,80,80,46,FF
2021-08-14T22:36:08.906Z,1628980568.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:36:09.365Z,1628980569.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 442.079987 m, bearing: 159.161917 deg, deltaT: 4.801705 s, approachRate: 0.662263 m/s, LOS rate: 4.174549 deg/s, posRepo size: 4
2021-08-14T22:36:11.755Z,1628980571.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:12.141Z,1628980572.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:36:12.141Z,1628980572.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:36:12.141Z,1628980572.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:36:12.142Z,1628980572.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:36:12.537Z,1628980572.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,01F39,186,80,80,46,FF
2021-08-14T22:36:12.537Z,1628980572.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:36:12.537Z,1628980572.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:36:12.539Z,1628980572.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:36:12.941Z,1628980572.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:36:13.761Z,1628980573.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,01F69,186,80,80,35,FF
2021-08-14T22:36:13.761Z,1628980573.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:36:13.764Z,1628980573.764 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223613.66*59

2021-08-14T22:36:14.234Z,1628980574.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 444.960022 m, bearing: 161.401523 deg, deltaT: 4.856577 s, approachRate: 0.593018 m/s, LOS rate: 0.461149 deg/s, posRepo size: 4
2021-08-14T22:36:16.644Z,1628980576.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:16.978Z,1628980576.978 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:36:16.978Z,1628980576.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:36:16.978Z,1628980576.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:36:16.979Z,1628980576.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:36:17.401Z,1628980577.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,01F69,186,80,80,35,FF
2021-08-14T22:36:17.401Z,1628980577.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:36:17.401Z,1628980577.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:36:17.403Z,1628980577.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:36:17.790Z,1628980577.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:36:18.601Z,1628980578.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223618.52*55

2021-08-14T22:36:19.430Z,1628980579.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:21.013Z,1628980581.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,35,FF
2021-08-14T22:36:21.013Z,1628980581.013 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,35,FF
2021-08-14T22:36:21.013Z,1628980581.013 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:36:22.318Z,1628980582.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:22.625Z,1628980582.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:36:22.625Z,1628980582.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:36:22.626Z,1628980582.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:36:22.626Z,1628980582.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:36:23.041Z,1628980583.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,35,FF
2021-08-14T22:36:23.041Z,1628980583.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:36:23.041Z,1628980583.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:36:23.043Z,1628980583.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:36:23.449Z,1628980583.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:36:24.281Z,1628980584.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,01FCC,186,80,80,51,FF
2021-08-14T22:36:24.282Z,1628980584.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:36:24.285Z,1628980584.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223624.16*5A

2021-08-14T22:36:24.707Z,1628980584.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 450.899994 m, bearing: 154.780570 deg, deltaT: 10.610586 s, approachRate: 0.559816 m/s, LOS rate: -0.623995 deg/s, posRepo size: 4
2021-08-14T22:36:27.129Z,1628980587.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:27.481Z,1628980587.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:36:27.482Z,1628980587.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:36:27.482Z,1628980587.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:36:27.483Z,1628980587.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:36:27.897Z,1628980587.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,01FCC,186,80,80,51,FF
2021-08-14T22:36:27.898Z,1628980587.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:36:27.898Z,1628980587.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:36:27.901Z,1628980587.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:36:28.284Z,1628980588.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:36:29.115Z,1628980589.115 [Micromodem](INFO): Nmea in: $SNTTA,,0.039684,,,223629.02*4C

2021-08-14T22:36:29.925Z,1628980589.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:31.517Z,1628980591.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,51,FF
2021-08-14T22:36:31.517Z,1628980591.517 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,51,FF
2021-08-14T22:36:31.517Z,1628980591.517 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:36:32.429Z,1628980592.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:32.730Z,1628980592.730 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:36:32.730Z,1628980592.730 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:36:32.730Z,1628980592.730 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:36:32.731Z,1628980592.731 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:36:33.141Z,1628980593.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,51,FF
2021-08-14T22:36:33.141Z,1628980593.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:36:33.141Z,1628980593.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:36:33.143Z,1628980593.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:36:33.551Z,1628980593.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:36:34.399Z,1628980594.399 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223634.27*59

2021-08-14T22:36:35.213Z,1628980595.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:36.769Z,1628980596.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,51,FF
2021-08-14T22:36:36.770Z,1628980596.770 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,51,FF
2021-08-14T22:36:36.770Z,1628980596.770 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:36:38.010Z,1628980598.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:38.415Z,1628980598.415 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:36:38.415Z,1628980598.415 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:36:38.415Z,1628980598.415 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:36:38.416Z,1628980598.416 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:36:38.797Z,1628980598.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,51,FF
2021-08-14T22:36:38.797Z,1628980598.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:36:38.797Z,1628980598.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:36:38.799Z,1628980598.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:36:39.217Z,1628980599.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:36:40.032Z,1628980600.032 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223639.92*5A

2021-08-14T22:36:40.899Z,1628980600.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:42.425Z,1628980602.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,51,FF
2021-08-14T22:36:42.425Z,1628980602.425 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,51,FF
2021-08-14T22:36:42.425Z,1628980602.425 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:36:43.676Z,1628980603.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:44.041Z,1628980604.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:36:44.041Z,1628980604.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:36:44.041Z,1628980604.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:36:44.042Z,1628980604.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:36:44.441Z,1628980604.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,51,FF
2021-08-14T22:36:44.441Z,1628980604.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:36:44.442Z,1628980604.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:36:44.443Z,1628980604.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:36:44.880Z,1628980604.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:36:45.682Z,1628980605.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223645.57*58

2021-08-14T22:36:46.533Z,1628980606.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:48.090Z,1628980608.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,51,FF
2021-08-14T22:36:48.090Z,1628980608.090 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,51,FF
2021-08-14T22:36:48.091Z,1628980608.091 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:36:49.364Z,1628980609.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:49.701Z,1628980609.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:36:49.701Z,1628980609.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:36:49.701Z,1628980609.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:36:49.702Z,1628980609.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:36:50.101Z,1628980610.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,51,FF
2021-08-14T22:36:50.101Z,1628980610.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:36:50.102Z,1628980610.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:36:50.103Z,1628980610.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:36:50.508Z,1628980610.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:36:51.354Z,1628980611.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,129,000,020C8,186,80,80,2B,FF
2021-08-14T22:36:51.355Z,1628980611.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:36:51.358Z,1628980611.358 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223651.23*5E

2021-08-14T22:36:51.758Z,1628980611.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 466.019989 m, bearing: 124.286234 deg, deltaT: 27.036399 s, approachRate: 0.559246 m/s, LOS rate: -1.127899 deg/s, posRepo size: 4
2021-08-14T22:36:54.222Z,1628980614.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:54.545Z,1628980614.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:36:54.545Z,1628980614.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:36:54.545Z,1628980614.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:36:54.546Z,1628980614.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:36:54.957Z,1628980614.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
129,000,020C8,186,80,80,2B,FF
2021-08-14T22:36:54.957Z,1628980614.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:36:54.958Z,1628980614.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:36:54.959Z,1628980614.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:36:55.396Z,1628980615.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:36:56.217Z,1628980616.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,020F7,187,80,80,32,FF
2021-08-14T22:36:56.218Z,1628980616.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:36:56.225Z,1628980616.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223656.08*50

2021-08-14T22:36:56.610Z,1628980616.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 468.839996 m, bearing: 129.645501 deg, deltaT: 4.931875 s, approachRate: 0.571792 m/s, LOS rate: 1.086659 deg/s, posRepo size: 4
2021-08-14T22:36:59.011Z,1628980619.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:36:59.405Z,1628980619.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:36:59.405Z,1628980619.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:36:59.405Z,1628980619.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:36:59.406Z,1628980619.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:36:59.793Z,1628980619.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,020F7,187,80,80,32,FF
2021-08-14T22:36:59.793Z,1628980619.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:36:59.794Z,1628980619.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:36:59.795Z,1628980619.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:37:00.260Z,1628980620.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:37:00.273Z,1628980620.273 [Micromodem](INFO): Nmea in: *2F

2021-08-14T22:37:00.274Z,1628980620.274 [Micromodem](ERROR): Response from modem failed NMEA checksum: *2F
 expected 0
2021-08-14T22:37:01.009Z,1628980621.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12A,000,020F7,187,80,80,32,FF
2021-08-14T22:37:01.010Z,1628980621.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:37:01.449Z,1628980621.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 468.839996 m, bearing: 124.191212 deg, deltaT: 4.694786 s, approachRate: 0.000000 m/s, LOS rate: -1.161776 deg/s, posRepo size: 4
2021-08-14T22:37:03.851Z,1628980623.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:37:04.261Z,1628980624.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:37:04.261Z,1628980624.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:37:04.261Z,1628980624.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:37:04.262Z,1628980624.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:37:04.654Z,1628980624.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12A,000,020F7,187,80,80,32,FF
2021-08-14T22:37:04.654Z,1628980624.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:37:04.654Z,1628980624.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:37:04.656Z,1628980624.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:37:05.061Z,1628980625.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:37:05.870Z,1628980625.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223705.78*50

2021-08-14T22:37:06.358Z,1628980626.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:37:08.277Z,1628980628.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,32,FF
2021-08-14T22:37:08.277Z,1628980628.277 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,32,FF
2021-08-14T22:37:08.277Z,1628980628.277 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:37:09.112Z,1628980629.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:37:09.489Z,1628980629.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:37:09.489Z,1628980629.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:37:09.489Z,1628980629.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:37:09.490Z,1628980629.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:37:09.901Z,1628980629.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,32,FF
2021-08-14T22:37:09.901Z,1628980629.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:37:09.901Z,1628980629.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:37:09.903Z,1628980629.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:37:10.322Z,1628980630.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:37:11.130Z,1628980631.130 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223711.03*59

2021-08-14T22:37:11.952Z,1628980631.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:37:13.529Z,1628980633.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,32,FF
2021-08-14T22:37:13.529Z,1628980633.529 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,32,FF
2021-08-14T22:37:13.530Z,1628980633.530 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:37:14.770Z,1628980634.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:37:15.145Z,1628980635.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:37:15.145Z,1628980635.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:37:15.145Z,1628980635.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:37:15.146Z,1628980635.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:37:15.557Z,1628980635.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,32,FF
2021-08-14T22:37:15.557Z,1628980635.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:37:15.557Z,1628980635.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:37:15.559Z,1628980635.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:37:15.988Z,1628980635.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:37:16.807Z,1628980636.807 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223716.68*53

2021-08-14T22:37:17.658Z,1628980637.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:37:19.221Z,1628980639.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,32,FF
2021-08-14T22:37:19.221Z,1628980639.221 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,32,FF
2021-08-14T22:37:19.221Z,1628980639.221 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:37:20.486Z,1628980640.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:37:20.837Z,1628980640.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:37:20.837Z,1628980640.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:37:20.837Z,1628980640.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:37:20.838Z,1628980640.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:37:21.237Z,1628980641.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,32,FF
2021-08-14T22:37:21.237Z,1628980641.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:37:21.237Z,1628980641.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:37:21.239Z,1628980641.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:37:21.653Z,1628980641.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:37:22.455Z,1628980642.455 [Micromodem](INFO): Nmea in: $SNTTA,0.367974,0.368536,,,223722.36*5A

2021-08-14T22:37:23.278Z,1628980643.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:37:23.661Z,1628980643.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,05397,185,80,80,40,FF
2021-08-14T22:37:23.662Z,1628980643.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:37:24.104Z,1628980644.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1246.440063 m, bearing: 123.508426 deg, deltaT: 22.635948 s, approachRate: 34.352444 m/s, LOS rate: -0.030164 deg/s, posRepo size: 4
2021-08-14T22:37:26.542Z,1628980646.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:37:26.897Z,1628980646.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:37:26.897Z,1628980646.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:37:26.897Z,1628980646.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:37:26.898Z,1628980646.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:37:27.307Z,1628980647.307 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,05397,185,80,80,40,FF
2021-08-14T22:37:27.307Z,1628980647.307 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:37:27.307Z,1628980647.307 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:37:27.311Z,1628980647.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:37:27.709Z,1628980647.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:37:28.525Z,1628980648.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223728.44*50

2021-08-14T22:37:29.378Z,1628980649.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:37:30.941Z,1628980650.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,185,80,80,40,FF
2021-08-14T22:37:30.941Z,1628980650.941 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,185,80,80,40,FF
2021-08-14T22:37:30.941Z,1628980650.941 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:37:32.227Z,1628980652.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:37:32.553Z,1628980652.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:37:32.553Z,1628980652.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:37:32.553Z,1628980652.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:37:32.554Z,1628980652.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:37:32.959Z,1628980652.959 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,185,80,80,40,FF
2021-08-14T22:37:32.959Z,1628980652.959 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:37:32.959Z,1628980652.959 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:37:32.961Z,1628980652.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:37:33.400Z,1628980653.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:37:34.222Z,1628980654.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10C,000,02269,186,80,80,38,FF
2021-08-14T22:37:34.223Z,1628980654.223 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:37:34.226Z,1628980654.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223734.08*55

2021-08-14T22:37:34.614Z,1628980654.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 491.040009 m, bearing: 125.551622 deg, deltaT: 10.658113 s, approachRate: -70.875587 m/s, LOS rate: 0.191703 deg/s, posRepo size: 4
2021-08-14T22:37:37.039Z,1628980657.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:37:37.413Z,1628980657.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:37:37.413Z,1628980657.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:37:37.413Z,1628980657.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:37:37.414Z,1628980657.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:37:37.805Z,1628980657.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10C,000,02269,186,80,80,38,FF
2021-08-14T22:37:37.805Z,1628980657.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:37:37.806Z,1628980657.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:37:37.807Z,1628980657.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:37:38.259Z,1628980658.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:37:38.618Z,1628980658.618 [Micromodem](INFO): Nmea in: 
$CAREV,223739,COPROC,0.20.0.39330*75

2021-08-14T22:37:39.430Z,1628980659.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,0229A,185,80,80,4A,FF
2021-08-14T22:37:39.431Z,1628980659.431 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:37:39.880Z,1628980659.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 493.979980 m, bearing: 123.140606 deg, deltaT: 5.114772 s, approachRate: 0.574800 m/s, LOS rate: -0.471383 deg/s, posRepo size: 4
2021-08-14T22:37:42.356Z,1628980662.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:37:42.661Z,1628980662.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:37:42.661Z,1628980662.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:37:42.661Z,1628980662.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:37:42.662Z,1628980662.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:37:43.057Z,1628980663.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12E,000,0229A,185,80,80,4A,FF
2021-08-14T22:37:43.057Z,1628980663.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:37:43.058Z,1628980663.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:37:43.059Z,1628980663.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:37:43.477Z,1628980663.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:37:44.291Z,1628980664.291 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,0229A,185,80,80,4A,FF
2021-08-14T22:37:44.291Z,1628980664.291 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:37:44.330Z,1628980664.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223744.19*52

2021-08-14T22:37:44.704Z,1628980664.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 493.979980 m, bearing: 121.108324 deg, deltaT: 4.963581 s, approachRate: 0.000000 m/s, LOS rate: -0.409439 deg/s, posRepo size: 4
2021-08-14T22:37:47.132Z,1628980667.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:37:47.517Z,1628980667.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:37:47.517Z,1628980667.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:37:47.517Z,1628980667.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:37:47.518Z,1628980667.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:37:47.907Z,1628980667.907 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,0229A,185,80,80,4A,FF
2021-08-14T22:37:47.907Z,1628980667.907 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:37:47.907Z,1628980667.907 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:37:47.909Z,1628980667.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:37:48.349Z,1628980668.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:37:49.141Z,1628980669.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,0229A,185,80,80,4A,FF
2021-08-14T22:37:49.142Z,1628980669.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:37:49.146Z,1628980669.146 [Micromodem](INFO): Nmea in: $SNTTA,,0.074229,,,223749.03*40

2021-08-14T22:37:49.586Z,1628980669.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 493.979980 m, bearing: 120.955315 deg, deltaT: 4.780719 s, approachRate: 0.000000 m/s, LOS rate: -0.032006 deg/s, posRepo size: 4
2021-08-14T22:37:51.962Z,1628980671.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:37:52.377Z,1628980672.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:37:52.377Z,1628980672.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:37:52.377Z,1628980672.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:37:52.378Z,1628980672.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:37:52.755Z,1628980672.755 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,0229A,185,80,80,4A,FF
2021-08-14T22:37:52.755Z,1628980672.755 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:37:52.755Z,1628980672.755 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:37:52.757Z,1628980672.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:37:53.180Z,1628980673.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:37:53.994Z,1628980673.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,0229A,185,80,80,4A,FF
2021-08-14T22:37:53.995Z,1628980673.995 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:37:53.998Z,1628980673.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223753.88*5C

2021-08-14T22:37:54.459Z,1628980674.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 493.979980 m, bearing: 119.971467 deg, deltaT: 4.868684 s, approachRate: 0.000000 m/s, LOS rate: -0.202077 deg/s, posRepo size: 4
2021-08-14T22:37:56.811Z,1628980676.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:37:57.193Z,1628980677.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:37:57.194Z,1628980677.194 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:37:57.194Z,1628980677.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:37:57.195Z,1628980677.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:37:57.601Z,1628980677.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,0229A,185,80,80,4A,FF
2021-08-14T22:37:57.601Z,1628980677.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:37:57.601Z,1628980677.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:37:57.603Z,1628980677.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:37:58.029Z,1628980678.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:37:58.419Z,1628980678.419 [Micromodem](INFO): Nmea in: $SNTTA,0.226546,0.226552,,,223758.73*56

2021-08-14T22:37:59.222Z,1628980679.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,0235D,185,80,80,50,FF
2021-08-14T22:37:59.222Z,1628980679.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:37:59.678Z,1628980679.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 505.679993 m, bearing: 140.987850 deg, deltaT: 5.168357 s, approachRate: 2.263778 m/s, LOS rate: 4.066357 deg/s, posRepo size: 4
2021-08-14T22:38:02.068Z,1628980682.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:02.454Z,1628980682.454 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:38:02.454Z,1628980682.454 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:38:02.454Z,1628980682.454 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:38:02.455Z,1628980682.455 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:38:02.849Z,1628980682.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,0235D,185,80,80,50,FF
2021-08-14T22:38:02.849Z,1628980682.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:38:02.850Z,1628980682.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:38:02.851Z,1628980682.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:38:03.265Z,1628980683.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:38:04.082Z,1628980684.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223803.97*58

2021-08-14T22:38:04.465Z,1628980684.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,02390,184,80,80,4F,FF
2021-08-14T22:38:04.466Z,1628980684.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:38:04.921Z,1628980684.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 508.739990 m, bearing: 141.088786 deg, deltaT: 5.324828 s, approachRate: 0.574666 m/s, LOS rate: 0.018956 deg/s, posRepo size: 4
2021-08-14T22:38:07.373Z,1628980687.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:07.697Z,1628980687.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:38:07.697Z,1628980687.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:38:07.697Z,1628980687.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:38:07.698Z,1628980687.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:38:08.101Z,1628980688.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,02390,184,80,80,4F,FF
2021-08-14T22:38:08.101Z,1628980688.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:38:08.102Z,1628980688.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:38:08.103Z,1628980688.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:38:08.512Z,1628980688.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:38:09.350Z,1628980689.350 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223809.23*5D

2021-08-14T22:38:09.717Z,1628980689.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,023C4,187,80,80,5D,FF
2021-08-14T22:38:09.718Z,1628980689.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:38:10.211Z,1628980690.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 511.859985 m, bearing: 144.484387 deg, deltaT: 5.198293 s, approachRate: 0.600196 m/s, LOS rate: 0.653215 deg/s, posRepo size: 4
2021-08-14T22:38:12.639Z,1628980692.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:12.949Z,1628980692.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:38:12.949Z,1628980692.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:38:12.949Z,1628980692.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:38:12.950Z,1628980692.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:38:13.389Z,1628980693.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,023C4,187,80,80,5D,FF
2021-08-14T22:38:13.389Z,1628980693.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:38:13.389Z,1628980693.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:38:13.391Z,1628980693.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:38:13.761Z,1628980693.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:38:14.573Z,1628980694.573 [Micromodem](INFO): Nmea in: $SNTTA,0.332529,0.332641,,,223814.51*59

2021-08-14T22:38:14.978Z,1628980694.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,023F8,185,80,80,49,FF
2021-08-14T22:38:14.978Z,1628980694.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:38:15.433Z,1628980695.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 514.979980 m, bearing: 140.931869 deg, deltaT: 5.232649 s, approachRate: 0.596255 m/s, LOS rate: -0.678914 deg/s, posRepo size: 4
2021-08-14T22:38:17.823Z,1628980697.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:18.245Z,1628980698.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:38:18.245Z,1628980698.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:38:18.245Z,1628980698.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:38:18.246Z,1628980698.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:38:18.613Z,1628980698.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,023F8,185,80,80,49,FF
2021-08-14T22:38:18.613Z,1628980698.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:38:18.613Z,1628980698.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:38:18.615Z,1628980698.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:38:19.017Z,1628980699.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:38:19.850Z,1628980699.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223819.74*5E

2021-08-14T22:38:20.249Z,1628980700.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,0242D,185,80,80,4A,FF
2021-08-14T22:38:20.249Z,1628980700.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:38:20.693Z,1628980700.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 518.159973 m, bearing: 136.466018 deg, deltaT: 5.372167 s, approachRate: 0.591939 m/s, LOS rate: -0.831294 deg/s, posRepo size: 4
2021-08-14T22:38:23.067Z,1628980703.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:23.453Z,1628980703.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:38:23.453Z,1628980703.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:38:23.453Z,1628980703.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:38:23.454Z,1628980703.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:38:23.857Z,1628980703.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,0242D,185,80,80,4A,FF
2021-08-14T22:38:23.857Z,1628980703.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:38:23.857Z,1628980703.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:38:23.859Z,1628980703.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:38:24.274Z,1628980704.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:38:25.090Z,1628980705.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223824.98*52

2021-08-14T22:38:25.903Z,1628980705.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:27.498Z,1628980707.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:27.498Z,1628980707.498 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:27.498Z,1628980707.498 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:38:28.404Z,1628980708.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:28.717Z,1628980708.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:38:28.717Z,1628980708.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:38:28.717Z,1628980708.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:38:28.718Z,1628980708.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:38:29.113Z,1628980709.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:29.113Z,1628980709.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:38:29.114Z,1628980709.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:38:29.115Z,1628980709.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:38:29.516Z,1628980709.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:38:30.366Z,1628980710.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223830.24*50

2021-08-14T22:38:31.163Z,1628980711.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:32.761Z,1628980712.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:32.761Z,1628980712.761 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:32.761Z,1628980712.761 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:38:33.983Z,1628980713.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:34.389Z,1628980714.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:38:34.390Z,1628980714.390 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:38:34.390Z,1628980714.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:38:34.391Z,1628980714.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:38:34.769Z,1628980714.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:34.769Z,1628980714.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:38:34.769Z,1628980714.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:38:34.771Z,1628980714.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:38:35.176Z,1628980715.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:38:36.002Z,1628980716.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223835.89*52

2021-08-14T22:38:36.811Z,1628980716.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:38.398Z,1628980718.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:38.398Z,1628980718.398 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:38.398Z,1628980718.398 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:38:39.638Z,1628980719.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:40.025Z,1628980720.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:38:40.025Z,1628980720.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:38:40.025Z,1628980720.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:38:40.026Z,1628980720.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:38:40.432Z,1628980720.432 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:40.432Z,1628980720.432 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:38:40.433Z,1628980720.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:38:40.434Z,1628980720.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:38:40.832Z,1628980720.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:38:41.662Z,1628980721.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223841.56*53

2021-08-14T22:38:42.518Z,1628980722.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:44.065Z,1628980724.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:44.065Z,1628980724.065 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:44.066Z,1628980724.066 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:38:45.292Z,1628980725.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:45.673Z,1628980725.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:38:45.673Z,1628980725.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:38:45.673Z,1628980725.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:38:45.674Z,1628980725.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:38:46.077Z,1628980726.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:46.077Z,1628980726.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:38:46.077Z,1628980726.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:38:46.079Z,1628980726.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:38:46.496Z,1628980726.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:38:47.342Z,1628980727.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223847.20*54

2021-08-14T22:38:48.123Z,1628980728.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:49.713Z,1628980729.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:49.714Z,1628980729.714 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:49.714Z,1628980729.714 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:38:50.948Z,1628980730.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:51.350Z,1628980731.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:38:51.350Z,1628980731.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:38:51.350Z,1628980731.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:38:51.351Z,1628980731.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:38:51.733Z,1628980731.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:51.733Z,1628980731.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:38:51.733Z,1628980731.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:38:51.735Z,1628980731.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:38:52.141Z,1628980732.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:38:52.974Z,1628980732.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223852.86*5C

2021-08-14T22:38:53.779Z,1628980733.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:55.389Z,1628980735.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:55.389Z,1628980735.389 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:55.389Z,1628980735.389 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:38:56.640Z,1628980736.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:38:56.990Z,1628980736.990 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:38:56.990Z,1628980736.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:38:56.990Z,1628980736.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:38:56.991Z,1628980736.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:38:57.401Z,1628980737.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,185,80,80,4A,FF
2021-08-14T22:38:57.402Z,1628980737.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:38:57.402Z,1628980737.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:38:57.404Z,1628980737.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:38:57.796Z,1628980737.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:38:58.618Z,1628980738.618 [Micromodem](INFO): Nmea in: $SNTTA,0.325427,0.325433,,,223858.53*5B

2021-08-14T22:38:59.005Z,1628980739.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,025AA,183,80,80,39,FF
2021-08-14T22:38:59.005Z,1628980739.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:38:59.466Z,1628980739.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 541.019958 m, bearing: 138.445872 deg, deltaT: 38.651337 s, approachRate: 0.591441 m/s, LOS rate: 0.051223 deg/s, posRepo size: 4
2021-08-14T22:39:01.870Z,1628980741.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:02.253Z,1628980742.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:39:02.253Z,1628980742.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:39:02.253Z,1628980742.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:39:02.254Z,1628980742.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:39:02.641Z,1628980742.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF3,000,025AA,183,80,80,39,FF
2021-08-14T22:39:02.641Z,1628980742.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:39:02.641Z,1628980742.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:39:02.643Z,1628980742.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:39:03.049Z,1628980743.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:39:03.898Z,1628980743.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223903.77*57

2021-08-14T22:39:04.261Z,1628980744.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,025DC,185,80,80,32,FF
2021-08-14T22:39:04.262Z,1628980744.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:39:04.716Z,1628980744.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 544.019958 m, bearing: 134.946301 deg, deltaT: 5.378243 s, approachRate: 0.557803 m/s, LOS rate: -0.650690 deg/s, posRepo size: 4
2021-08-14T22:39:07.115Z,1628980747.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:07.501Z,1628980747.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:39:07.501Z,1628980747.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:39:07.502Z,1628980747.502 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:39:07.502Z,1628980747.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:39:07.921Z,1628980747.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,025DC,185,80,80,32,FF
2021-08-14T22:39:07.921Z,1628980747.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:39:07.921Z,1628980747.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:39:07.923Z,1628980747.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:39:08.305Z,1628980748.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:39:09.125Z,1628980749.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223909.05*58

2021-08-14T22:39:09.530Z,1628980749.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,0257B,186,80,80,58,FF
2021-08-14T22:39:09.530Z,1628980749.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:39:09.963Z,1628980749.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 538.200012 m, bearing: 144.010167 deg, deltaT: 5.157243 s, approachRate: -1.128500 m/s, LOS rate: 1.757502 deg/s, posRepo size: 4
2021-08-14T22:39:11.572Z,1628980751.572 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T22:39:11.573Z,1628980751.573 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T22:39:11.573Z,1628980751.573 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T22:39:11.573Z,1628980751.573 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T22:39:11.573Z,1628980751.573 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T22:39:12.338Z,1628980752.338 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 06411861060000005D00000400260000000000000000151D80030C5669C08C79983B3AE43795E0E80B36798130E3199846624CE233E8A3DC03C6C000
2021-08-14T22:39:12.339Z,1628980752.339 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T22:39:12.381Z,1628980752.381 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T22:39:12.427Z,1628980752.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:12.603Z,1628980752.603 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:39:12.603Z,1628980752.603 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:39:12.603Z,1628980752.603 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:39:12.604Z,1628980752.604 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:39:12.612Z,1628980752.612 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T22:39:13.001Z,1628980753.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,0257B,186,80,80,58,FF
2021-08-14T22:39:13.001Z,1628980753.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:39:13.001Z,1628980753.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:39:13.003Z,1628980753.003 [Micromodem](INFO): Nmea in: $CADRQ,223913,1,10,0,64,1*7E

2021-08-14T22:39:13.004Z,1628980753.004 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861060000005D00000400260000000000000000151D80030C5669C08C79983B3AE43795E0E80B36798130E3199846624CE233E8A3DC03C6C000*44

2021-08-14T22:39:13.406Z,1628980753.406 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T22:39:13.406Z,1628980753.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:39:13.810Z,1628980753.810 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T22:39:13.810Z,1628980753.810 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-14T22:39:15.058Z,1628980755.058 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T22:39:15.058Z,1628980755.058 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-14T22:39:15.152Z,1628980755.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:15.451Z,1628980755.451 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,223914.148298,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-14T22:39:15.451Z,1628980755.451 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,223914.148298,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-14T22:39:17.886Z,1628980757.886 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T22:39:17.887Z,1628980757.887 [Micromodem](INFO): Sent 52 bytes from file Logs/20210814T221742/Courier0006.lzma.parts
2021-08-14T22:39:17.888Z,1628980757.888 [Micromodem](INFO): Packets left to send: 0
2021-08-14T22:39:17.969Z,1628980757.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:18.290Z,1628980758.290 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814223917.705905,06,2583,34,0126,0150,134,02,02,00,02,1,010,001,0,4,1,0,150,4.3,3.84,08,-0.84,-01,0.64,56,14500,4000*50

2021-08-14T22:39:18.290Z,1628980758.290 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814223917.705905,06,2583,34,0126,0150,134,02,02,00,02,1,010,001,0,4,1,0,150,4.3,3.84,08,-0.84,-01,0.64,56,14500,4000*50

2021-08-14T22:39:18.535Z,1628980758.535 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 06411861090000005D00000400260000000000000000151D80030C5669C08C7998404399FC676E10B1DDBBA8E0E7CD21AA178F861E9957F250820900
2021-08-14T22:39:18.956Z,1628980758.956 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.352139
2021-08-14T22:39:20.799Z,1628980760.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:20.977Z,1628980760.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:39:20.977Z,1628980760.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:39:20.978Z,1628980760.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:39:20.979Z,1628980760.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:39:21.389Z,1628980761.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,0257B,186,80,80,58,FF
2021-08-14T22:39:21.389Z,1628980761.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:39:21.390Z,1628980761.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:39:23.443Z,1628980763.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:24.614Z,1628980764.614 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:39:25.153Z,1628980765.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:39:25.164Z,1628980765.164 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T22:39:25.550Z,1628980765.550 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T22:39:25.962Z,1628980765.962 [Micromodem](INFO): Nmea in: $CADRQ,223926,1,10,0,64,1*78

2021-08-14T22:39:25.962Z,1628980765.962 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861090000005D00000400260000000000000000151D80030C5669C08C7998404399FC676E10B1DDBBA8E0E7CD21AA178F861E9957F250820900*30

2021-08-14T22:39:26.078Z,1628980766.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:26.391Z,1628980766.391 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223925.74*50

2021-08-14T22:39:26.391Z,1628980766.391 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,223925.74*50

2021-08-14T22:39:27.196Z,1628980767.196 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.217465
2021-08-14T22:39:27.583Z,1628980767.583 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T22:39:28.009Z,1628980768.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,58,FF
2021-08-14T22:39:28.009Z,1628980768.009 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,58,FF
2021-08-14T22:39:28.010Z,1628980768.010 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:39:28.011Z,1628980768.011 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T22:39:28.406Z,1628980768.406 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T22:39:28.788Z,1628980768.788 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,223927.107409,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*50

2021-08-14T22:39:28.810Z,1628980768.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:29.197Z,1628980769.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:39:29.197Z,1628980769.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:39:29.197Z,1628980769.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:39:29.198Z,1628980769.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:39:29.597Z,1628980769.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,58,FF
2021-08-14T22:39:29.597Z,1628980769.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:39:29.597Z,1628980769.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:39:29.599Z,1628980769.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:39:30.025Z,1628980770.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:39:30.422Z,1628980770.422 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:39:30.838Z,1628980770.838 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223930.73*53

2021-08-14T22:39:31.217Z,1628980771.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,220,000,026ED,188,80,80,54,FF
2021-08-14T22:39:31.218Z,1628980771.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:39:31.732Z,1628980771.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 560.400024 m, bearing: 110.077938 deg, deltaT: 21.965292 s, approachRate: 1.010686 m/s, LOS rate: -1.544811 deg/s, posRepo size: 4
2021-08-14T22:39:31.732Z,1628980771.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 560.40 m. Resuming terminal guidance.
2021-08-14T22:39:31.733Z,1628980771.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T22:39:34.180Z,1628980774.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:34.537Z,1628980774.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:39:34.537Z,1628980774.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:39:34.538Z,1628980774.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:39:34.538Z,1628980774.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:39:34.937Z,1628980774.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
220,000,026ED,188,80,80,54,FF
2021-08-14T22:39:34.937Z,1628980774.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:39:34.937Z,1628980774.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:39:34.939Z,1628980774.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:39:35.357Z,1628980775.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:39:36.186Z,1628980776.186 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223936.07*56

2021-08-14T22:39:36.977Z,1628980776.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:38.257Z,1628980778.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,188,80,80,54,FF
2021-08-14T22:39:38.258Z,1628980778.258 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,188,80,80,54,FF
2021-08-14T22:39:38.258Z,1628980778.258 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:39:40.075Z,1628980780.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:40.264Z,1628980780.264 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:39:40.264Z,1628980780.264 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:39:40.264Z,1628980780.264 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:39:40.265Z,1628980780.265 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:39:40.645Z,1628980780.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,188,80,80,54,FF
2021-08-14T22:39:40.645Z,1628980780.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:39:40.645Z,1628980780.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:39:40.647Z,1628980780.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:39:41.065Z,1628980781.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:39:41.882Z,1628980781.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223941.77*51

2021-08-14T22:39:42.262Z,1628980782.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,0275E,189,80,80,60,FF
2021-08-14T22:39:42.262Z,1628980782.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:39:42.704Z,1628980782.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 567.179993 m, bearing: 108.900584 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T22:39:42.705Z,1628980782.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 108.900584deg and heading rate command to 0 deg/s.
2021-08-14T22:39:45.212Z,1628980785.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:45.569Z,1628980785.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:39:45.569Z,1628980785.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:39:45.569Z,1628980785.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:39:45.570Z,1628980785.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:39:45.986Z,1628980785.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24E,000,0275E,189,80,80,60,FF
2021-08-14T22:39:45.986Z,1628980785.986 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:39:45.986Z,1628980785.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:39:45.989Z,1628980785.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:39:46.404Z,1628980786.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:39:47.219Z,1628980787.219 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223947.11*57

2021-08-14T22:39:47.597Z,1628980787.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,02794,185,80,80,4D,FF
2021-08-14T22:39:47.597Z,1628980787.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:39:48.047Z,1628980788.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 570.419983 m, bearing: 145.703767 deg, deltaT: 5.346261 s, approachRate: 0.606029 m/s, LOS rate: 6.883911 deg/s, posRepo size: 2
2021-08-14T22:39:48.050Z,1628980788.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 570.419983 m,
      bearing: 145.703767 deg,
      approachRate: 0.606029 m/s,
      LOS rate: 6.883911 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 108.900584 deg,
      new cmd heading: 108.900584 deg.

2021-08-14T22:39:50.490Z,1628980790.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:50.825Z,1628980790.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:39:50.825Z,1628980790.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:39:50.825Z,1628980790.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:39:50.826Z,1628980790.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:39:51.249Z,1628980791.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,02794,185,80,80,4D,FF
2021-08-14T22:39:51.249Z,1628980791.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:39:51.250Z,1628980791.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:39:51.251Z,1628980791.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:39:51.653Z,1628980791.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:39:52.484Z,1628980792.484 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223952.38*58

2021-08-14T22:39:53.102Z,1628980793.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:54.893Z,1628980794.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,185,80,80,4D,FF
2021-08-14T22:39:54.893Z,1628980794.893 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,185,80,80,4D,FF
2021-08-14T22:39:54.893Z,1628980794.893 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:39:55.762Z,1628980795.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:56.101Z,1628980796.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:39:56.101Z,1628980796.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:39:56.101Z,1628980796.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:39:56.102Z,1628980796.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:39:56.501Z,1628980796.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,185,80,80,4D,FF
2021-08-14T22:39:56.501Z,1628980796.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:39:56.502Z,1628980796.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:39:56.503Z,1628980796.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:39:56.913Z,1628980796.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:39:57.762Z,1628980797.762 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223957.63*53

2021-08-14T22:39:58.283Z,1628980798.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:39:59.790Z,1628980799.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,185,80,80,4D,FF
2021-08-14T22:39:59.791Z,1628980799.791 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,185,80,80,4D,FF
2021-08-14T22:39:59.791Z,1628980799.791 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:40:01.053Z,1628980801.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:40:01.410Z,1628980801.410 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:40:01.410Z,1628980801.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:40:01.410Z,1628980801.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:40:01.411Z,1628980801.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:40:01.814Z,1628980801.814 [DUSBL_Hydroid](INFO): DUSBL response received:E4
!U1,P
80,63,E4
4,185,80,80,4D,FF
2021-08-14T22:40:01.814Z,1628980801.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:40:01.815Z,1628980801.815 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:40:01.820Z,1628980801.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:40:02.256Z,1628980802.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:40:03.095Z,1628980803.095 [Micromodem](INFO): Nmea in: $SNTTA,0.388802,0.076425,,,224002.95*5F

2021-08-14T22:40:04.102Z,1628980804.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:40:04.705Z,1628980804.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,061D0,187,80,80,46,FF
2021-08-14T22:40:04.706Z,1628980804.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:40:05.164Z,1628980805.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1464.900024 m, bearing: 173.057063 deg, deltaT: 17.049142 s, approachRate: 52.464813 m/s, LOS rate: 1.604380 deg/s, posRepo size: 3
2021-08-14T22:40:05.166Z,1628980805.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1464.900024 m,
      bearing: 173.057063 deg,
      approachRate: 52.464813 m/s,
      LOS rate: 1.604380 deg/s,
      cmd update: 6.417519 deg/s,
      cmd heading: 313.348010 deg,
      new cmd heading: 318.607490 deg.

2021-08-14T22:40:07.254Z,1628980807.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:40:07.593Z,1628980807.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:40:07.593Z,1628980807.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:40:07.593Z,1628980807.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:40:07.594Z,1628980807.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:40:08.005Z,1628980808.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,061D0,187,80,80,46,FF
2021-08-14T22:40:08.005Z,1628980808.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:40:08.005Z,1628980808.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:40:08.007Z,1628980808.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:40:08.419Z,1628980808.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:40:09.237Z,1628980809.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,01A6D,186,80,80,75,FF
2021-08-14T22:40:09.237Z,1628980809.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:40:09.240Z,1628980809.240 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224009.13*51

2021-08-14T22:40:09.663Z,1628980809.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 368.399963 m, bearing: 198.866695 deg, deltaT: 4.585255 s, approachRate: -239.136093 m/s, LOS rate: 5.628832 deg/s, posRepo size: 4
2021-08-14T22:40:09.681Z,1628980809.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 368.399963 m,
      bearing: 198.866695 deg,
      approachRate: -239.136093 m/s,
      LOS rate: 5.628832 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 342.727346 deg,
      new cmd heading: 345.031620 deg.

2021-08-14T22:40:12.119Z,1628980812.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:40:12.489Z,1628980812.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:40:12.489Z,1628980812.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:40:12.489Z,1628980812.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:40:12.490Z,1628980812.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:40:13.013Z,1628980813.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,01A6D,186,80,80,75,FF
2021-08-14T22:40:13.013Z,1628980813.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:40:13.014Z,1628980813.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:40:13.015Z,1628980813.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:40:13.409Z,1628980813.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:40:14.266Z,1628980814.266 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224014.14*5A

2021-08-14T22:40:14.626Z,1628980814.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,173,000,02861,186,80,80,62,FF
2021-08-14T22:40:14.626Z,1628980814.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:40:15.092Z,1628980815.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 582.720032 m, bearing: 183.354529 deg, deltaT: 5.350841 s, approachRate: 40.053528 m/s, LOS rate: -2.899014 deg/s, posRepo size: 4
2021-08-14T22:40:15.094Z,1628980815.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 582.720032 m,
      bearing: 183.354529 deg,
      approachRate: 40.053528 m/s,
      LOS rate: -2.899014 deg/s,
      cmd update: -11.596058 deg/s,
      cmd heading: 47.224420 deg,
      new cmd heading: 52.183120 deg.

2021-08-14T22:40:17.291Z,1628980817.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:40:17.457Z,1628980817.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:40:17.457Z,1628980817.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:40:17.457Z,1628980817.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:40:17.458Z,1628980817.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:40:17.858Z,1628980817.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
173,000,02861,186,80,80,62,FF
2021-08-14T22:40:17.858Z,1628980817.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:40:17.858Z,1628980817.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:40:17.860Z,1628980817.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:40:18.260Z,1628980818.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:40:19.090Z,1628980819.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224018.98*52

2021-08-14T22:40:19.553Z,1628980819.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,02863,188,80,80,6B,FF
2021-08-14T22:40:19.553Z,1628980819.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:40:20.022Z,1628980820.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 582.839966 m, bearing: 264.947956 deg, deltaT: 4.921271 s, approachRate: 0.024371 m/s, LOS rate: 16.579746 deg/s, posRepo size: 4
2021-08-14T22:40:20.023Z,1628980820.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.579746 deg/s. Setting heading cmd to target bearing of 264.947956deg and heading rate command to 0 deg/s.
2021-08-14T22:40:22.460Z,1628980822.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:40:22.777Z,1628980822.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:40:22.777Z,1628980822.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:40:22.777Z,1628980822.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:40:22.778Z,1628980822.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:40:23.187Z,1628980823.187 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,02863,188,80,80,6B,FF
2021-08-14T22:40:23.187Z,1628980823.187 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:40:23.187Z,1628980823.187 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:40:23.189Z,1628980823.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:40:23.601Z,1628980823.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:40:23.612Z,1628980823.612 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T22:40:24.440Z,1628980824.440 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 06411861090000005D00000400260000000000000000151D80030C5669C08C7998404399FC676E10B1DDBBA8E0E7CD21AA178F861E9957F250820900
2021-08-14T22:40:24.440Z,1628980824.440 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T22:40:24.744Z,1628980824.744 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,02871,18A,80,80,4A,FF
2021-08-14T22:40:24.745Z,1628980824.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:40:24.748Z,1628980824.748 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224024.31*5E

2021-08-14T22:40:24.748Z,1628980824.748 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,224024.31*5E

2021-08-14T22:40:25.221Z,1628980825.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 583.679993 m, bearing: 164.759859 deg, deltaT: 5.159694 s, approachRate: 0.162806 m/s, LOS rate: -19.417449 deg/s, posRepo size: 4
2021-08-14T22:40:25.221Z,1628980825.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.417449 deg/s. Setting heading cmd to target bearing of 164.759859deg and heading rate command to 0 deg/s.
2021-08-14T22:40:25.957Z,1628980825.957 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T22:40:26.521Z,1628980826.521 [Micromodem](INFO): Nmea in: $CADRQ,224025,1,10,0,64,1*75

2021-08-14T22:40:26.521Z,1628980826.521 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861090000005D00000400260000000000000000151D80030C5669C08C7998404399FC676E10B1DDBBA8E0E7CD21AA178F861E9957F250820900*30

2021-08-14T22:40:26.961Z,1628980826.961 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T22:40:27.378Z,1628980827.378 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T22:40:27.469Z,1628980827.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:40:27.761Z,1628980827.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:40:27.761Z,1628980827.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:40:27.761Z,1628980827.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:40:27.762Z,1628980827.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:40:28.179Z,1628980828.179 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,02871,18A,80,80,4A,FF
2021-08-14T22:40:28.179Z,1628980828.179 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:40:28.197Z,1628980828.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:40:28.208Z,1628980828.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:40:28.578Z,1628980828.578 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T22:40:28.578Z,1628980828.578 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-14T22:40:28.967Z,1628980828.967 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,224027.671265,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-14T22:40:28.967Z,1628980828.967 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,224027.671265,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-14T22:40:30.520Z,1628980830.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:40:31.506Z,1628980831.506 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T22:40:31.507Z,1628980831.507 [Micromodem](INFO): Sent 52 bytes from file Logs/20210814T221742/Courier0009.lzma.parts
2021-08-14T22:40:31.507Z,1628980831.507 [Micromodem](INFO): Packets left to send: 0
2021-08-14T22:40:31.911Z,1628980831.911 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814224031.263165,06,11180,40,0129,0150,67,02,02,00,02,1,010,001,0,4,1,0,150,8.1,8.10,19,-5.10,-01,0.10,50,14500,4000*5A

2021-08-14T22:40:31.911Z,1628980831.911 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814224031.263165,06,11180,40,0129,0150,67,02,02,00,02,1,010,001,0,4,1,0,150,8.1,8.10,19,-5.10,-01,0.10,50,14500,4000*5A

2021-08-14T22:40:32.131Z,1628980832.131 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T22:40:32.131Z,1628980832.131 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T22:40:32.131Z,1628980832.131 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T22:40:32.132Z,1628980832.132 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T22:40:32.132Z,1628980832.132 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T22:40:33.414Z,1628980833.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:40:34.149Z,1628980834.149 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.386422
2021-08-14T22:40:36.237Z,1628980836.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:40:36.560Z,1628980836.560 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:40:36.560Z,1628980836.560 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:40:36.560Z,1628980836.560 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:40:36.561Z,1628980836.561 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:40:36.953Z,1628980836.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,02871,18A,80,80,4A,FF
2021-08-14T22:40:36.953Z,1628980836.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:40:36.953Z,1628980836.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:40:38.994Z,1628980838.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:40:39.394Z,1628980839.394 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:40:39.784Z,1628980839.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:40:40.618Z,1628980840.618 [Micromodem](INFO): Nmea in: $SNTTA,0.389860,,,,224040.52*4B

2021-08-14T22:40:40.993Z,1628980840.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,125,000,02853,185,80,80,49,FF
2021-08-14T22:40:40.993Z,1628980840.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:40:41.451Z,1628980841.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 581.880005 m, bearing: 208.965362 deg, deltaT: 16.272064 s, approachRate: -0.110618 m/s, LOS rate: 2.716650 deg/s, posRepo size: 4
2021-08-14T22:40:41.453Z,1628980841.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 581.880005 m,
      bearing: 208.965362 deg,
      approachRate: -0.110618 m/s,
      LOS rate: 2.716650 deg/s,
      cmd update: 10.866600 deg/s,
      cmd heading: 164.759859 deg,
      new cmd heading: 164.759859 deg.

2021-08-14T22:40:43.862Z,1628980843.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:40:44.265Z,1628980844.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:40:44.265Z,1628980844.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:40:44.265Z,1628980844.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:40:44.266Z,1628980844.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:40:44.633Z,1628980844.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
125,000,02853,185,80,80,49,FF
2021-08-14T22:40:44.633Z,1628980844.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:40:44.633Z,1628980844.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:40:44.635Z,1628980844.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:40:45.042Z,1628980845.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:40:45.870Z,1628980845.870 [Micromodem](INFO): Nmea in: $SNTTA,0.387083,,,,224045.76*43

2021-08-14T22:40:46.265Z,1628980846.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,02847,186,80,80,86,FF
2021-08-14T22:40:46.265Z,1628980846.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:40:46.684Z,1628980846.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 581.159973 m, bearing: 222.275980 deg, deltaT: 5.361640 s, approachRate: -0.134293 m/s, LOS rate: 2.482565 deg/s, posRepo size: 4
2021-08-14T22:40:46.686Z,1628980846.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 581.159973 m,
      bearing: 222.275980 deg,
      approachRate: -0.134293 m/s,
      LOS rate: 2.482565 deg/s,
      cmd update: 9.930258 deg/s,
      cmd heading: 223.283077 deg,
      new cmd heading: 226.405290 deg.

2021-08-14T22:40:49.107Z,1628980849.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:40:49.481Z,1628980849.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:40:49.481Z,1628980849.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:40:49.481Z,1628980849.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:40:49.482Z,1628980849.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:40:49.881Z,1628980849.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,02847,186,80,80,86,FF
2021-08-14T22:40:49.882Z,1628980849.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:40:49.882Z,1628980849.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:40:49.884Z,1628980849.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:40:50.300Z,1628980850.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:40:51.119Z,1628980851.119 [Micromodem](INFO): Nmea in: $SNTTA,0.389851,,,,224051.01*4F

2021-08-14T22:40:51.497Z,1628980851.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,104,000,02851,186,80,80,63,FF
2021-08-14T22:40:51.497Z,1628980851.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:40:51.936Z,1628980851.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 581.760010 m, bearing: 191.518395 deg, deltaT: 5.152816 s, approachRate: 0.116448 m/s, LOS rate: -5.969083 deg/s, posRepo size: 4
2021-08-14T22:40:51.938Z,1628980851.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 581.760010 m,
      bearing: 191.518395 deg,
      approachRate: 0.116448 m/s,
      LOS rate: -5.969083 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 274.454334 deg,
      new cmd heading: 278.289966 deg.

2021-08-14T22:40:54.401Z,1628980854.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:40:54.737Z,1628980854.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:40:54.738Z,1628980854.738 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:40:54.738Z,1628980854.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:40:54.739Z,1628980854.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:40:55.133Z,1628980855.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
104,000,02851,186,80,80,63,FF
2021-08-14T22:40:55.133Z,1628980855.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:40:55.133Z,1628980855.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:40:55.135Z,1628980855.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:40:55.549Z,1628980855.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:40:56.489Z,1628980856.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB2,000,024A4,188,80,80,99,FF
2021-08-14T22:40:56.489Z,1628980856.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:40:56.492Z,1628980856.492 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224056.26*5D

2021-08-14T22:40:56.801Z,1628980856.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 525.299988 m, bearing: 252.034226 deg, deltaT: 5.034053 s, approachRate: -11.215619 m/s, LOS rate: 12.021294 deg/s, posRepo size: 4
2021-08-14T22:40:56.801Z,1628980856.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.021294 deg/s. Setting heading cmd to target bearing of 252.034226deg and heading rate command to 0 deg/s.
2021-08-14T22:40:59.200Z,1628980859.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:40:59.577Z,1628980859.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:40:59.577Z,1628980859.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:40:59.577Z,1628980859.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:40:59.578Z,1628980859.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:40:59.990Z,1628980859.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB2,000,024A4,188,80,80,99,FF
2021-08-14T22:40:59.990Z,1628980859.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:40:59.990Z,1628980859.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:40:59.992Z,1628980859.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:41:00.412Z,1628980860.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:41:01.230Z,1628980861.230 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224101.12*59

2021-08-14T22:41:01.605Z,1628980861.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0283B,18A,80,80,7D,FF
2021-08-14T22:41:01.606Z,1628980861.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:41:02.036Z,1628980862.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 580.440002 m, bearing: 306.756254 deg, deltaT: 5.049996 s, approachRate: 10.918823 m/s, LOS rate: 10.836053 deg/s, posRepo size: 4
2021-08-14T22:41:02.038Z,1628980862.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 580.440002 m,
      bearing: 306.756254 deg,
      approachRate: 10.918823 m/s,
      LOS rate: 10.836053 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 252.034226 deg,
      new cmd heading: 252.034226 deg.

2021-08-14T22:41:03.233Z,1628980863.233 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T22:41:04.498Z,1628980864.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:41:04.841Z,1628980864.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:41:04.841Z,1628980864.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:41:04.842Z,1628980864.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:41:04.843Z,1628980864.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:41:05.233Z,1628980865.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0283B,18A,80,80,7D,FF
2021-08-14T22:41:05.233Z,1628980865.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:41:05.233Z,1628980865.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:41:05.235Z,1628980865.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:41:05.657Z,1628980865.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:41:06.470Z,1628980866.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224106.36*58

2021-08-14T22:41:06.854Z,1628980866.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D06,000,02818,189,80,80,99,FF
2021-08-14T22:41:06.854Z,1628980866.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:41:07.301Z,1628980867.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 578.340027 m, bearing: 300.820738 deg, deltaT: 5.238222 s, approachRate: -0.400895 m/s, LOS rate: -1.133117 deg/s, posRepo size: 4
2021-08-14T22:41:07.303Z,1628980867.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 578.340027 m,
      bearing: 300.820738 deg,
      approachRate: -0.400895 m/s,
      LOS rate: -1.133117 deg/s,
      cmd update: -4.532467 deg/s,
      cmd heading: 314.890168 deg,
      new cmd heading: 320.034844 deg.

2021-08-14T22:41:09.721Z,1628980869.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:41:10.102Z,1628980870.102 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:41:10.103Z,1628980870.103 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:41:10.103Z,1628980870.103 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:41:10.104Z,1628980870.104 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:41:10.501Z,1628980870.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D06,000,02818,189,80,80,99,FF
2021-08-14T22:41:10.501Z,1628980870.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:41:10.502Z,1628980870.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:41:10.504Z,1628980870.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:41:10.896Z,1628980870.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:41:11.714Z,1628980871.714 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224111.63*5E

2021-08-14T22:41:12.116Z,1628980872.116 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC9,000,027E6,189,80,80,8A,FF
2021-08-14T22:41:12.117Z,1628980872.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:41:12.559Z,1628980872.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 575.340027 m, bearing: 309.838800 deg, deltaT: 5.361725 s, approachRate: -0.559521 m/s, LOS rate: 1.681933 deg/s, posRepo size: 4
2021-08-14T22:41:12.561Z,1628980872.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 575.340027 m,
      bearing: 309.838800 deg,
      approachRate: -0.559521 m/s,
      LOS rate: 1.681933 deg/s,
      cmd update: 6.727732 deg/s,
      cmd heading: 290.629338 deg,
      new cmd heading: 289.115621 deg.

2021-08-14T22:41:14.958Z,1628980874.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:41:15.373Z,1628980875.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:41:15.373Z,1628980875.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:41:15.373Z,1628980875.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:41:15.374Z,1628980875.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:41:15.745Z,1628980875.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC9,000,027E6,189,80,80,8A,FF
2021-08-14T22:41:15.745Z,1628980875.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:41:15.745Z,1628980875.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:41:15.747Z,1628980875.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:41:16.198Z,1628980876.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:41:16.986Z,1628980876.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224116.87*53

2021-08-14T22:41:17.405Z,1628980877.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,027AC,184,80,80,7A,FF
2021-08-14T22:41:17.406Z,1628980877.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:41:17.812Z,1628980877.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 571.859985 m, bearing: 303.978880 deg, deltaT: 5.221172 s, approachRate: -0.666525 m/s, LOS rate: -1.122338 deg/s, posRepo size: 4
2021-08-14T22:41:17.814Z,1628980877.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 571.859985 m,
      bearing: 303.978880 deg,
      approachRate: -0.666525 m/s,
      LOS rate: -1.122338 deg/s,
      cmd update: -4.489352 deg/s,
      cmd heading: 325.817943 deg,
      new cmd heading: 328.217267 deg.

2021-08-14T22:41:20.257Z,1628980880.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:41:20.581Z,1628980880.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:41:20.581Z,1628980880.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:41:20.581Z,1628980880.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:41:20.582Z,1628980880.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:41:20.995Z,1628980880.995 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,027AC,184,80,80,7A,FF
2021-08-14T22:41:20.995Z,1628980880.995 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:41:20.995Z,1628980880.995 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:41:20.999Z,1628980880.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:41:21.397Z,1628980881.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:41:21.431Z,1628980881.431 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T22:41:22.254Z,1628980882.254 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224122.13*59

2021-08-14T22:41:22.606Z,1628980882.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21D,000,02772,188,80,80,88,FF
2021-08-14T22:41:22.607Z,1628980882.607 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:41:23.047Z,1628980883.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 568.380005 m, bearing: 300.188808 deg, deltaT: 5.224060 s, approachRate: -0.666145 m/s, LOS rate: -0.725503 deg/s, posRepo size: 4
2021-08-14T22:41:23.050Z,1628980883.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 568.380005 m,
      bearing: 300.188808 deg,
      approachRate: -0.666145 m/s,
      LOS rate: -0.725503 deg/s,
      cmd update: -2.902012 deg/s,
      cmd heading: 302.365434 deg,
      new cmd heading: 300.711593 deg.

2021-08-14T22:41:25.502Z,1628980885.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:41:25.853Z,1628980885.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:41:25.853Z,1628980885.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:41:25.853Z,1628980885.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:41:25.854Z,1628980885.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:41:26.261Z,1628980886.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21D,000,02772,188,80,80,88,FF
2021-08-14T22:41:26.261Z,1628980886.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:41:26.261Z,1628980886.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:41:26.263Z,1628980886.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:41:26.644Z,1628980886.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:41:27.476Z,1628980887.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224127.39*54

2021-08-14T22:41:27.853Z,1628980887.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,0273A,186,80,80,7D,FF
2021-08-14T22:41:27.853Z,1628980887.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:41:28.371Z,1628980888.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 565.019958 m, bearing: 301.207955 deg, deltaT: 5.216456 s, approachRate: -0.644124 m/s, LOS rate: 0.195371 deg/s, posRepo size: 4
2021-08-14T22:41:28.374Z,1628980888.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 565.019958 m,
      bearing: 301.207955 deg,
      approachRate: -0.644124 m/s,
      LOS rate: 0.195371 deg/s,
      cmd update: 0.781485 deg/s,
      cmd heading: 287.296749 deg,
      new cmd heading: 285.846131 deg.

2021-08-14T22:41:30.729Z,1628980890.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:41:31.085Z,1628980891.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:41:31.085Z,1628980891.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:41:31.085Z,1628980891.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:41:31.086Z,1628980891.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:41:31.494Z,1628980891.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,0273A,186,80,80,7D,FF
2021-08-14T22:41:31.494Z,1628980891.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:41:31.494Z,1628980891.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:41:31.496Z,1628980891.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:41:31.900Z,1628980891.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:41:32.730Z,1628980892.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224132.62*5E

2021-08-14T22:41:33.105Z,1628980893.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBC,000,026FD,184,80,80,A1,FF
2021-08-14T22:41:33.105Z,1628980893.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:41:33.561Z,1628980893.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 561.359985 m, bearing: 304.409155 deg, deltaT: 5.273147 s, approachRate: -0.694078 m/s, LOS rate: 0.607076 deg/s, posRepo size: 4
2021-08-14T22:41:33.563Z,1628980893.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 561.359985 m,
      bearing: 304.409155 deg,
      approachRate: -0.694078 m/s,
      LOS rate: 0.607076 deg/s,
      cmd update: 2.428304 deg/s,
      cmd heading: 291.428116 deg,
      new cmd heading: 291.739788 deg.

2021-08-14T22:41:35.951Z,1628980895.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:41:36.357Z,1628980896.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:41:36.358Z,1628980896.358 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:41:36.358Z,1628980896.358 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:41:36.359Z,1628980896.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:41:36.745Z,1628980896.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBC,000,026FD,184,80,80,A1,FF
2021-08-14T22:41:36.746Z,1628980896.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:41:36.746Z,1628980896.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:41:36.747Z,1628980896.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:41:37.148Z,1628980897.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:41:37.974Z,1628980897.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224137.87*50

2021-08-14T22:41:38.389Z,1628980898.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,026BF,186,80,80,A5,FF
2021-08-14T22:41:38.390Z,1628980898.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:41:38.807Z,1628980898.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 557.639954 m, bearing: 307.203741 deg, deltaT: 5.308785 s, approachRate: -0.700731 m/s, LOS rate: 0.526408 deg/s, posRepo size: 4
2021-08-14T22:41:38.809Z,1628980898.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 557.639954 m,
      bearing: 307.203741 deg,
      approachRate: -0.700731 m/s,
      LOS rate: 0.526408 deg/s,
      cmd update: 2.105631 deg/s,
      cmd heading: 304.324725 deg,
      new cmd heading: 305.145664 deg.

2021-08-14T22:41:41.218Z,1628980901.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:41:41.597Z,1628980901.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:41:41.597Z,1628980901.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:41:41.597Z,1628980901.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:41:41.598Z,1628980901.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:41:42.101Z,1628980902.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,026BF,186,80,80,A5,FF
2021-08-14T22:41:42.101Z,1628980902.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:41:42.101Z,1628980902.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:41:42.104Z,1628980902.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:41:42.456Z,1628980902.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:41:43.259Z,1628980903.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,00E45,186,80,80,95,FF
2021-08-14T22:41:43.260Z,1628980903.260 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:41:43.673Z,1628980903.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224143.23*5D

2021-08-14T22:41:43.739Z,1628980903.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.679993 m, bearing: 304.694739 deg, deltaT: 4.884499 s, approachRate: -76.970016 m/s, LOS rate: -0.513666 deg/s, posRepo size: 4
2021-08-14T22:41:43.746Z,1628980903.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.679993 m,
      bearing: 304.694739 deg,
      approachRate: -76.970016 m/s,
      LOS rate: -0.513666 deg/s,
      cmd update: -2.054665 deg/s,
      cmd heading: 314.618995 deg,
      new cmd heading: 315.407939 deg.

2021-08-14T22:41:46.128Z,1628980906.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:41:46.505Z,1628980906.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:41:46.505Z,1628980906.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:41:46.505Z,1628980906.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:41:46.506Z,1628980906.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:41:46.909Z,1628980906.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,00E45,186,80,80,95,FF
2021-08-14T22:41:46.910Z,1628980906.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:41:46.910Z,1628980906.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:41:46.911Z,1628980906.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:41:47.335Z,1628980907.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:41:48.134Z,1628980908.134 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224148.04*53

2021-08-14T22:41:48.643Z,1628980908.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:41:50.541Z,1628980910.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,95,FF
2021-08-14T22:41:50.541Z,1628980910.541 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,95,FF
2021-08-14T22:41:50.541Z,1628980910.541 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:41:51.385Z,1628980911.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:41:51.745Z,1628980911.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:41:51.745Z,1628980911.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:41:51.745Z,1628980911.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:41:51.746Z,1628980911.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:41:52.157Z,1628980912.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,95,FF
2021-08-14T22:41:52.158Z,1628980912.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:41:52.158Z,1628980912.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:41:52.164Z,1628980912.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:41:52.569Z,1628980912.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:41:53.402Z,1628980913.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224153.29*56

2021-08-14T22:41:53.769Z,1628980913.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,02609,185,80,80,93,FF
2021-08-14T22:41:53.769Z,1628980913.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:41:54.261Z,1628980914.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 546.719971 m, bearing: 305.245744 deg, deltaT: 10.451637 s, approachRate: 34.926582 m/s, LOS rate: 0.052719 deg/s, posRepo size: 4
2021-08-14T22:41:54.267Z,1628980914.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 546.719971 m,
      bearing: 305.245744 deg,
      approachRate: 34.926582 m/s,
      LOS rate: 0.052719 deg/s,
      cmd update: 0.210878 deg/s,
      cmd heading: 293.152485 deg,
      new cmd heading: 292.221003 deg.

2021-08-14T22:41:56.323Z,1628980916.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:41:56.597Z,1628980916.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:41:56.598Z,1628980916.598 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:41:56.598Z,1628980916.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:41:56.599Z,1628980916.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:41:57.009Z,1628980917.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,02609,185,80,80,93,FF
2021-08-14T22:41:57.009Z,1628980917.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:41:57.009Z,1628980917.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:41:57.011Z,1628980917.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:41:57.409Z,1628980917.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:41:58.243Z,1628980918.243 [Micromodem](INFO): Nmea in: $SNTTA,0.479733,0.479952,,,224158.14*5A

2021-08-14T22:41:58.617Z,1628980918.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,025CE,185,80,80,8C,FF
2021-08-14T22:41:58.617Z,1628980918.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:41:59.056Z,1628980919.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 543.179993 m, bearing: 308.115380 deg, deltaT: 4.855695 s, approachRate: -0.729036 m/s, LOS rate: 0.590984 deg/s, posRepo size: 4
2021-08-14T22:41:59.058Z,1628980919.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 543.179993 m,
      bearing: 308.115380 deg,
      approachRate: -0.729036 m/s,
      LOS rate: 0.590984 deg/s,
      cmd update: 2.363934 deg/s,
      cmd heading: 294.173012 deg,
      new cmd heading: 294.259581 deg.

2021-08-14T22:42:01.481Z,1628980921.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:42:01.841Z,1628980921.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:42:01.841Z,1628980921.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:42:01.842Z,1628980921.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:42:01.843Z,1628980921.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:42:02.259Z,1628980922.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,025CE,185,80,80,8C,FF
2021-08-14T22:42:02.259Z,1628980922.259 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:42:02.259Z,1628980922.259 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:42:02.261Z,1628980922.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:42:02.656Z,1628980922.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:42:03.490Z,1628980923.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224203.39*51

2021-08-14T22:42:03.869Z,1628980923.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,02591,187,80,80,9D,FF
2021-08-14T22:42:03.870Z,1628980923.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:42:04.380Z,1628980924.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 539.520020 m, bearing: 307.785591 deg, deltaT: 5.218730 s, approachRate: -0.701315 m/s, LOS rate: -0.063193 deg/s, posRepo size: 4
2021-08-14T22:42:04.382Z,1628980924.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 539.520020 m,
      bearing: 307.785591 deg,
      approachRate: -0.701315 m/s,
      LOS rate: -0.063193 deg/s,
      cmd update: -0.252773 deg/s,
      cmd heading: 306.566884 deg,
      new cmd heading: 307.720893 deg.

2021-08-14T22:42:06.725Z,1628980926.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:42:07.105Z,1628980927.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:42:07.105Z,1628980927.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:42:07.105Z,1628980927.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:42:07.106Z,1628980927.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:42:07.505Z,1628980927.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,02591,187,80,80,9D,FF
2021-08-14T22:42:07.505Z,1628980927.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:42:07.506Z,1628980927.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:42:07.507Z,1628980927.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:42:07.913Z,1628980927.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:42:08.742Z,1628980928.742 [Micromodem](INFO): Nmea in: $SNTTA,0.359034,,,,224208.63*43

2021-08-14T22:42:09.117Z,1628980929.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,0254F,186,80,80,98,FF
2021-08-14T22:42:09.117Z,1628980929.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:42:09.569Z,1628980929.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 535.559998 m, bearing: 306.435426 deg, deltaT: 5.247582 s, approachRate: -0.754637 m/s, LOS rate: -0.257293 deg/s, posRepo size: 4
2021-08-14T22:42:09.571Z,1628980929.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 535.559998 m,
      bearing: 306.435426 deg,
      approachRate: -0.754637 m/s,
      LOS rate: -0.257293 deg/s,
      cmd update: -1.029171 deg/s,
      cmd heading: 305.240426 deg,
      new cmd heading: 305.131038 deg.

2021-08-14T22:42:11.963Z,1628980931.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:42:12.381Z,1628980932.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:42:12.381Z,1628980932.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:42:12.381Z,1628980932.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:42:12.382Z,1628980932.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:42:12.753Z,1628980932.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,0254F,186,80,80,98,FF
2021-08-14T22:42:12.753Z,1628980932.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:42:12.753Z,1628980932.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:42:12.755Z,1628980932.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:42:13.161Z,1628980933.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:42:13.990Z,1628980933.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224213.88*5A

2021-08-14T22:42:14.393Z,1628980934.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,02510,185,80,80,8E,FF
2021-08-14T22:42:14.394Z,1628980934.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:42:14.808Z,1628980934.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 531.779968 m, bearing: 307.116014 deg, deltaT: 5.340123 s, approachRate: -0.707854 m/s, LOS rate: 0.127448 deg/s, posRepo size: 4
2021-08-14T22:42:14.810Z,1628980934.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 531.779968 m,
      bearing: 307.116014 deg,
      approachRate: -0.707854 m/s,
      LOS rate: 0.127448 deg/s,
      cmd update: 0.509792 deg/s,
      cmd heading: 299.748646 deg,
      new cmd heading: 299.402367 deg.

2021-08-14T22:42:17.228Z,1628980937.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:42:17.601Z,1628980937.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:42:17.601Z,1628980937.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:42:17.601Z,1628980937.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:42:17.602Z,1628980937.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:42:18.005Z,1628980938.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,02510,185,80,80,8E,FF
2021-08-14T22:42:18.005Z,1628980938.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:42:18.006Z,1628980938.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:42:18.007Z,1628980938.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:42:18.425Z,1628980938.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:42:19.242Z,1628980939.242 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224219.13*52

2021-08-14T22:42:19.629Z,1628980939.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,024CC,186,80,80,A4,FF
2021-08-14T22:42:19.630Z,1628980939.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:42:20.064Z,1628980940.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 527.700012 m, bearing: 307.357666 deg, deltaT: 5.187817 s, approachRate: -0.786449 m/s, LOS rate: 0.046581 deg/s, posRepo size: 4
2021-08-14T22:42:20.066Z,1628980940.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 527.700012 m,
      bearing: 307.357666 deg,
      approachRate: -0.786449 m/s,
      LOS rate: 0.046581 deg/s,
      cmd update: 0.186323 deg/s,
      cmd heading: 302.395394 deg,
      new cmd heading: 302.599587 deg.

2021-08-14T22:42:22.533Z,1628980942.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:42:22.853Z,1628980942.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:42:22.853Z,1628980942.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:42:22.853Z,1628980942.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:42:22.854Z,1628980942.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:42:23.257Z,1628980943.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,024CC,186,80,80,A4,FF
2021-08-14T22:42:23.257Z,1628980943.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:42:23.258Z,1628980943.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:42:23.259Z,1628980943.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:42:23.660Z,1628980943.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:42:24.475Z,1628980944.475 [Micromodem](INFO): Nmea in: $SNTTA,0.395089,0.395083,,,224224.39*5E

2021-08-14T22:42:24.873Z,1628980944.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,02490,187,80,80,9F,FF
2021-08-14T22:42:24.874Z,1628980944.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:42:25.355Z,1628980945.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 524.099976 m, bearing: 307.273190 deg, deltaT: 5.227951 s, approachRate: -0.688613 m/s, LOS rate: -0.016158 deg/s, posRepo size: 4
2021-08-14T22:42:25.361Z,1628980945.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 524.099976 m,
      bearing: 307.273190 deg,
      approachRate: -0.688613 m/s,
      LOS rate: -0.016158 deg/s,
      cmd update: -0.064634 deg/s,
      cmd heading: 303.369482 deg,
      new cmd heading: 303.455819 deg.

2021-08-14T22:42:27.060Z,1628980947.060 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-14T22:42:27.658Z,1628980947.658 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T22:42:27.753Z,1628980947.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:42:28.105Z,1628980948.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:42:28.105Z,1628980948.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:42:28.105Z,1628980948.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:42:28.106Z,1628980948.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:42:28.509Z,1628980948.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,02490,187,80,80,9F,FF
2021-08-14T22:42:28.509Z,1628980948.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:42:28.510Z,1628980948.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:42:28.511Z,1628980948.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:42:28.663Z,1628980948.663 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T22:42:28.984Z,1628980948.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:42:29.669Z,1628980949.669 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T22:42:29.793Z,1628980949.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,02452,187,80,80,9F,FF
2021-08-14T22:42:29.793Z,1628980949.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:42:29.797Z,1628980949.797 [Micromodem](INFO): Nmea in: $SNTTA,0.349086,,,,224229.64*4F

2021-08-14T22:42:30.345Z,1628980950.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 520.380005 m, bearing: 306.610334 deg, deltaT: 4.927648 s, approachRate: -0.754918 m/s, LOS rate: -0.134518 deg/s, posRepo size: 4
2021-08-14T22:42:30.347Z,1628980950.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 520.380005 m,
      bearing: 306.610334 deg,
      approachRate: -0.754918 m/s,
      LOS rate: -0.134518 deg/s,
      cmd update: -0.538071 deg/s,
      cmd heading: 303.051041 deg,
      new cmd heading: 303.017915 deg.

2021-08-14T22:42:30.670Z,1628980950.670 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T22:42:31.674Z,1628980951.674 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T22:42:32.362Z,1628980952.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:42:32.625Z,1628980952.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:42:32.625Z,1628980952.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:42:32.625Z,1628980952.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:42:32.626Z,1628980952.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:42:32.678Z,1628980952.678 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T22:42:33.029Z,1628980953.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,02452,187,80,80,9F,FF
2021-08-14T22:42:33.029Z,1628980953.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:42:33.029Z,1628980953.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:42:33.031Z,1628980953.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:42:33.449Z,1628980953.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:42:33.682Z,1628980953.682 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T22:42:34.266Z,1628980954.266 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224234.16*58

2021-08-14T22:42:34.657Z,1628980954.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,02418,187,80,80,8D,FF
2021-08-14T22:42:34.658Z,1628980954.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:42:34.698Z,1628980954.698 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T22:42:35.139Z,1628980955.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 516.899963 m, bearing: 306.906791 deg, deltaT: 4.856453 s, approachRate: -0.716581 m/s, LOS rate: 0.061044 deg/s, posRepo size: 4
2021-08-14T22:42:35.145Z,1628980955.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 516.899963 m,
      bearing: 306.906791 deg,
      approachRate: -0.716581 m/s,
      LOS rate: 0.061044 deg/s,
      cmd update: 0.244176 deg/s,
      cmd heading: 300.437482 deg,
      new cmd heading: 300.188371 deg.

2021-08-14T22:42:35.702Z,1628980955.702 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T22:42:36.706Z,1628980956.706 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T22:42:37.518Z,1628980957.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:42:37.710Z,1628980957.710 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T22:42:37.881Z,1628980957.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:42:37.881Z,1628980957.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:42:37.881Z,1628980957.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:42:37.882Z,1628980957.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:42:38.043Z,1628980958.043 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005661
CHAN A1 (24V): -0.023566
CHAN A2 (12V): -0.005088
CHAN A3 (5V): -0.001719
CHAN B0 (3.3V): 0.000587
CHAN B1 (3.15aV): 0.000414
CHAN B2 (3.15bV): 0.000331
CHAN B3 (GND): 0.001928
OPEN: 0.006492
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-14T22:42:38.278Z,1628980958.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,02418,187,80,80,8D,FF
2021-08-14T22:42:38.278Z,1628980958.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:42:38.278Z,1628980958.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:42:38.280Z,1628980958.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:42:38.688Z,1628980958.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:42:39.518Z,1628980959.518 [Micromodem](INFO): Nmea in: $SNTTA,0.344486,,,,224239.41*40

2021-08-14T22:42:39.902Z,1628980959.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,023DE,186,80,80,90,FF
2021-08-14T22:42:39.902Z,1628980959.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:42:40.403Z,1628980960.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 513.419983 m, bearing: 306.869526 deg, deltaT: 5.244321 s, approachRate: -0.663571 m/s, LOS rate: -0.007106 deg/s, posRepo size: 4
2021-08-14T22:42:40.405Z,1628980960.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 513.419983 m,
      bearing: 306.869526 deg,
      approachRate: -0.663571 m/s,
      LOS rate: -0.007106 deg/s,
      cmd update: -0.028424 deg/s,
      cmd heading: 301.718002 deg,
      new cmd heading: 301.835833 deg.

2021-08-14T22:42:42.761Z,1628980962.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:42:43.129Z,1628980963.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:42:43.129Z,1628980963.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:42:43.129Z,1628980963.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:42:43.130Z,1628980963.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:42:43.541Z,1628980963.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,023DE,186,80,80,90,FF
2021-08-14T22:42:43.541Z,1628980963.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:42:43.541Z,1628980963.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:42:43.543Z,1628980963.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:42:43.941Z,1628980963.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:42:45.177Z,1628980965.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5E,000,0239E,187,80,80,8A,FF
2021-08-14T22:42:45.177Z,1628980965.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:42:45.595Z,1628980965.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 509.579987 m, bearing: 307.523639 deg, deltaT: 5.307005 s, approachRate: -0.723571 m/s, LOS rate: 0.123255 deg/s, posRepo size: 4
2021-08-14T22:42:45.598Z,1628980965.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 509.579987 m,
      bearing: 307.523639 deg,
      approachRate: -0.723571 m/s,
      LOS rate: 0.123255 deg/s,
      cmd update: 0.493019 deg/s,
      cmd heading: 301.568068 deg,
      new cmd heading: 301.556686 deg.

2021-08-14T22:42:47.000Z,1628980968.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:42:48.401Z,1628980968.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:42:48.401Z,1628980968.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:42:48.401Z,1628980968.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:42:48.402Z,1628980968.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:42:48.789Z,1628980968.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5E,000,0239E,187,80,80,8A,FF
2021-08-14T22:42:48.789Z,1628980968.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:42:48.789Z,1628980968.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:42:48.791Z,1628980968.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:42:50.836Z,1628980970.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:42:51.621Z,1628980971.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:42:51.621Z,1628980971.621 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:42:51.622Z,1628980971.622 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:42:53.689Z,1628980973.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:42:54.041Z,1628980974.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:42:54.041Z,1628980974.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:42:54.042Z,1628980974.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:42:54.043Z,1628980974.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:42:54.453Z,1628980974.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:42:54.454Z,1628980974.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:42:54.454Z,1628980974.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:42:56.522Z,1628980976.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:42:57.281Z,1628980977.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:42:57.282Z,1628980977.282 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:42:57.282Z,1628980977.282 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:42:59.362Z,1628980979.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:42:59.701Z,1628980979.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:42:59.701Z,1628980979.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:42:59.701Z,1628980979.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:42:59.702Z,1628980979.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:43:00.105Z,1628980980.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:00.105Z,1628980980.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:43:00.105Z,1628980980.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:43:00.106Z,1628980980.106 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:43:02.207Z,1628980982.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:02.929Z,1628980982.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:02.929Z,1628980982.929 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:02.930Z,1628980982.930 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:43:04.982Z,1628980984.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:05.381Z,1628980985.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:43:05.381Z,1628980985.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:43:05.381Z,1628980985.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:43:05.382Z,1628980985.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:43:05.769Z,1628980985.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:05.769Z,1628980985.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:43:05.769Z,1628980985.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:43:07.790Z,1628980987.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:08.585Z,1628980988.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:08.585Z,1628980988.585 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:08.586Z,1628980988.586 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:43:10.242Z,1628980990.242 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-14T22:43:10.242Z,1628980990.242 [Micromodem] Hardware Fault, FailCount= 1
2021-08-14T22:43:10.242Z,1628980990.242 [Micromodem](ERROR): Hardware Fault
2021-08-14T22:43:10.359Z,1628980990.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:10.476Z,1628980990.476 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-14T22:43:10.606Z,1628980990.606 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:43:10.606Z,1628980990.606 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:43:10.607Z,1628980990.607 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:43:10.607Z,1628980990.607 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:43:10.628Z,1628980990.628 [Micromodem](INFO): Powering down
2021-08-14T22:43:11.005Z,1628980991.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:11.005Z,1628980991.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:43:11.005Z,1628980991.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:43:11.006Z,1628980991.006 [Micromodem](FAULT): LCB 1 fault: LCB Watchdog Reset.
2021-08-14T22:43:11.580Z,1628980991.580 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-14T22:43:11.580Z,1628980991.580 [Micromodem] No Fault, FailCount= 1
2021-08-14T22:43:13.055Z,1628980993.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:13.850Z,1628980993.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:13.851Z,1628980993.851 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:13.851Z,1628980993.851 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:43:14.234Z,1628980994.234 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:43:14.234Z,1628980994.234 [Micromodem](INFO): Powering up
2021-08-14T22:43:14.234Z,1628980994.234 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-14T22:43:15.883Z,1628980995.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:16.266Z,1628980996.266 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:43:16.266Z,1628980996.266 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:43:16.267Z,1628980996.267 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:43:16.267Z,1628980996.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:43:16.665Z,1628980996.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:16.665Z,1628980996.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:43:16.666Z,1628980996.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:43:18.750Z,1628980998.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:19.498Z,1628980999.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:19.498Z,1628980999.498 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:19.498Z,1628980999.498 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:43:20.319Z,1628981000.319 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-14T22:43:20.319Z,1628981000.319 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-14T22:43:20.319Z,1628981000.319 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-14T22:43:20.512Z,1628981000.512 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-14T22:43:20.768Z,1628981000.768 [RDI_Pathfinder](INFO): Powering down
2021-08-14T22:43:21.532Z,1628981001.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:21.640Z,1628981001.640 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-14T22:43:21.640Z,1628981001.640 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-14T22:43:21.921Z,1628981001.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:43:21.921Z,1628981001.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:43:21.921Z,1628981001.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:43:21.922Z,1628981001.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:43:22.327Z,1628981002.327 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:22.327Z,1628981002.327 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:43:22.328Z,1628981002.328 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:43:24.437Z,1628981004.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:25.175Z,1628981005.175 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:25.175Z,1628981005.175 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:25.175Z,1628981005.175 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:43:25.550Z,1628981005.550 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:43:27.204Z,1628981007.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:27.573Z,1628981007.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:43:27.573Z,1628981007.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:43:27.573Z,1628981007.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:43:27.574Z,1628981007.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:43:27.993Z,1628981007.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:27.993Z,1628981007.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:43:27.993Z,1628981007.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:43:29.595Z,1628981009.595 [Micromodem](INFO): Nmea in: $CATMG,2021-08-14T22:43:28.889713Z,RTC,RTC*5D

2021-08-14T22:43:29.595Z,1628981009.595 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-14T22:43:28.889713Z,RTC,RTC*5D

2021-08-14T22:43:30.026Z,1628981010.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:30.809Z,1628981010.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:30.809Z,1628981010.809 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:30.809Z,1628981010.809 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:43:32.839Z,1628981012.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:33.221Z,1628981013.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:43:33.221Z,1628981013.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:43:33.221Z,1628981013.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:43:33.222Z,1628981013.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:43:33.629Z,1628981013.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,8A,FF
2021-08-14T22:43:33.629Z,1628981013.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:43:33.630Z,1628981013.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:43:35.678Z,1628981015.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:36.865Z,1628981016.865 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:43:37.277Z,1628981017.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:43:37.288Z,1628981017.288 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-14T22:43:37.667Z,1628981017.667 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-14T22:43:37.667Z,1628981017.667 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-14T22:43:38.103Z,1628981018.103 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,199,000,0210A,185,80,80,83,FF
2021-08-14T22:43:38.103Z,1628981018.103 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:43:38.107Z,1628981018.107 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-14T22:43:38.107Z,1628981018.107 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-14T22:43:38.493Z,1628981018.493 [Micromodem](INFO): Nmea in: $SNTTA,0.314887,,,,224337.99*42

2021-08-14T22:43:38.493Z,1628981018.493 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,0.314887,,,,224337.99*42

2021-08-14T22:43:38.519Z,1628981018.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 469.979980 m, bearing: 301.444662 deg, deltaT: 53.007887 s, approachRate: -0.747059 m/s, LOS rate: -0.114681 deg/s, posRepo size: 4
2021-08-14T22:43:38.541Z,1628981018.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 469.979980 m,
      bearing: 301.444662 deg,
      approachRate: -0.747059 m/s,
      LOS rate: -0.114681 deg/s,
      cmd update: -0.458722 deg/s,
      cmd heading: 327.712155 deg,
      new cmd heading: 327.857642 deg.

2021-08-14T22:43:39.713Z,1628981019.713 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-14T22:43:39.713Z,1628981019.713 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-14T22:43:40.109Z,1628981020.109 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-14T22:43:40.109Z,1628981020.109 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-14T22:43:40.511Z,1628981020.511 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-14T22:43:40.511Z,1628981020.511 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-14T22:43:40.896Z,1628981020.896 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-14T22:43:40.896Z,1628981020.896 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-14T22:43:40.954Z,1628981020.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:41.307Z,1628981021.307 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:43:41.307Z,1628981021.307 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:43:41.308Z,1628981021.308 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:43:41.310Z,1628981021.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:43:41.318Z,1628981021.318 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-14T22:43:41.319Z,1628981021.319 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-14T22:43:41.709Z,1628981021.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
199,000,0210A,185,80,80,83,FF
2021-08-14T22:43:41.709Z,1628981021.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:43:41.709Z,1628981021.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:43:41.711Z,1628981021.711 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-14T22:43:41.711Z,1628981021.711 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,14,22,43,42*49

2021-08-14T22:43:42.123Z,1628981022.123 [Micromodem](INFO): Nmea in: $CACLK,2021,8,14,22,43,42*7B

2021-08-14T22:43:42.124Z,1628981022.124 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-14T22:43:43Z*7A

2021-08-14T22:43:42.126Z,1628981022.126 [Micromodem](INFO): Nmea in: $CATMG,2021-08-14T22:43:43.026265Z,USER_CMD,RTC*18

2021-08-14T22:43:43.762Z,1628981023.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:46.617Z,1628981026.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:47.400Z,1628981027.400 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.090464
2021-08-14T22:43:49.438Z,1628981029.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:49.789Z,1628981029.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:43:49.789Z,1628981029.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:43:49.789Z,1628981029.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:43:49.790Z,1628981029.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:43:50.225Z,1628981030.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
199,000,0210A,185,80,80,83,FF
2021-08-14T22:43:50.225Z,1628981030.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:43:50.225Z,1628981030.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:43:50.227Z,1628981030.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:43:50.645Z,1628981030.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:43:51.465Z,1628981031.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C0,000,0206D,187,80,80,6C,FF
2021-08-14T22:43:51.466Z,1628981031.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:43:51.469Z,1628981031.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224351.36*58

2021-08-14T22:43:51.886Z,1628981031.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 460.559998 m, bearing: 300.606980 deg, deltaT: 13.261312 s, approachRate: -0.710336 m/s, LOS rate: -0.063167 deg/s, posRepo size: 4
2021-08-14T22:43:51.888Z,1628981031.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 460.559998 m,
      bearing: 300.606980 deg,
      approachRate: -0.710336 m/s,
      LOS rate: -0.063167 deg/s,
      cmd update: -0.252669 deg/s,
      cmd heading: 321.624436 deg,
      new cmd heading: 321.444813 deg.

2021-08-14T22:43:54.362Z,1628981034.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:54.677Z,1628981034.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:43:54.677Z,1628981034.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:43:54.677Z,1628981034.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:43:54.678Z,1628981034.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:43:55.093Z,1628981035.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C0,000,0206D,187,80,80,6C,FF
2021-08-14T22:43:55.093Z,1628981035.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:43:55.093Z,1628981035.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:43:55.094Z,1628981035.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:43:55.480Z,1628981035.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:43:56.310Z,1628981036.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,171,000,02031,185,80,80,7C,FF
2021-08-14T22:43:56.311Z,1628981036.311 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:43:56.339Z,1628981036.339 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224356.22*5A

2021-08-14T22:43:56.737Z,1628981036.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 456.959991 m, bearing: 301.771746 deg, deltaT: 4.955663 s, approachRate: -0.726443 m/s, LOS rate: 0.235037 deg/s, posRepo size: 4
2021-08-14T22:43:56.739Z,1628981036.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 456.959991 m,
      bearing: 301.771746 deg,
      approachRate: -0.726443 m/s,
      LOS rate: 0.235037 deg/s,
      cmd update: 0.940149 deg/s,
      cmd heading: 320.372893 deg,
      new cmd heading: 320.301172 deg.

2021-08-14T22:43:59.164Z,1628981039.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:43:59.517Z,1628981039.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:43:59.517Z,1628981039.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:43:59.517Z,1628981039.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:43:59.518Z,1628981039.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:43:59.934Z,1628981039.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
171,000,02031,185,80,80,7C,FF
2021-08-14T22:43:59.934Z,1628981039.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:43:59.934Z,1628981039.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:43:59.936Z,1628981039.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:44:00.347Z,1628981040.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:44:01.169Z,1628981041.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,151,000,01FF7,185,80,80,78,FF
2021-08-14T22:44:01.169Z,1628981041.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:44:01.172Z,1628981041.172 [Micromodem](INFO): Nmea in: $SNTTA,0.362513,,,,224401.06*47

2021-08-14T22:44:01.588Z,1628981041.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 453.480011 m, bearing: 302.527957 deg, deltaT: 4.756000 s, approachRate: -0.731703 m/s, LOS rate: 0.159002 deg/s, posRepo size: 4
2021-08-14T22:44:01.590Z,1628981041.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 453.480011 m,
      bearing: 302.527957 deg,
      approachRate: -0.731703 m/s,
      LOS rate: 0.159002 deg/s,
      cmd update: 0.636006 deg/s,
      cmd heading: 324.848147 deg,
      new cmd heading: 325.205178 deg.

2021-08-14T22:44:04.053Z,1628981044.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:44:04.393Z,1628981044.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:44:04.393Z,1628981044.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:44:04.393Z,1628981044.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:44:04.394Z,1628981044.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:44:04.777Z,1628981044.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
151,000,01FF7,185,80,80,78,FF
2021-08-14T22:44:04.777Z,1628981044.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:44:04.777Z,1628981044.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:44:04.779Z,1628981044.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:44:05.197Z,1628981045.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:44:06.033Z,1628981046.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19F,000,00E95,186,80,80,86,FF
2021-08-14T22:44:06.033Z,1628981046.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:44:06.036Z,1628981046.036 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224405.91*53

2021-08-14T22:44:06.463Z,1628981046.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.480011 m, bearing: 301.407833 deg, deltaT: 4.902504 s, approachRate: -54.461964 m/s, LOS rate: -0.228480 deg/s, posRepo size: 4
2021-08-14T22:44:06.469Z,1628981046.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.480011 m,
      bearing: 301.407833 deg,
      approachRate: -54.461964 m/s,
      LOS rate: -0.228480 deg/s,
      cmd update: -0.913920 deg/s,
      cmd heading: 327.963509 deg,
      new cmd heading: 328.190291 deg.

2021-08-14T22:44:08.848Z,1628981048.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:44:09.217Z,1628981049.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:44:09.217Z,1628981049.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:44:09.217Z,1628981049.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:44:09.218Z,1628981049.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:44:09.621Z,1628981049.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19F,000,00E95,186,80,80,86,FF
2021-08-14T22:44:09.621Z,1628981049.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:44:09.621Z,1628981049.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:44:09.623Z,1628981049.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:44:10.065Z,1628981050.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:44:10.849Z,1628981050.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,01F85,187,80,80,92,FF
2021-08-14T22:44:10.850Z,1628981050.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:44:10.853Z,1628981050.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224410.75*5D

2021-08-14T22:44:11.270Z,1628981051.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 446.639984 m, bearing: 298.578851 deg, deltaT: 4.757620 s, approachRate: 54.682796 m/s, LOS rate: -0.594621 deg/s, posRepo size: 4
2021-08-14T22:44:11.272Z,1628981051.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 446.639984 m,
      bearing: 298.578851 deg,
      approachRate: 54.682796 m/s,
      LOS rate: -0.594621 deg/s,
      cmd update: -2.378485 deg/s,
      cmd heading: 323.611726 deg,
      new cmd heading: 323.244039 deg.

2021-08-14T22:44:13.706Z,1628981053.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:44:14.069Z,1628981054.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:44:14.069Z,1628981054.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:44:14.069Z,1628981054.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:44:14.070Z,1628981054.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:44:14.465Z,1628981054.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,01F85,187,80,80,92,FF
2021-08-14T22:44:14.465Z,1628981054.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:44:14.465Z,1628981054.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:44:14.467Z,1628981054.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:44:14.877Z,1628981054.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:44:15.701Z,1628981055.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18C,000,01F4E,186,80,80,8A,FF
2021-08-14T22:44:15.701Z,1628981055.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:44:15.704Z,1628981055.704 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224415.60*5C

2021-08-14T22:44:16.136Z,1628981056.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 443.339996 m, bearing: 301.220112 deg, deltaT: 4.908873 s, approachRate: -0.672250 m/s, LOS rate: 0.538059 deg/s, posRepo size: 4
2021-08-14T22:44:16.138Z,1628981056.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 443.339996 m,
      bearing: 301.220112 deg,
      approachRate: -0.672250 m/s,
      LOS rate: 0.538059 deg/s,
      cmd update: 2.152234 deg/s,
      cmd heading: 311.959236 deg,
      new cmd heading: 311.082269 deg.

2021-08-14T22:44:18.554Z,1628981058.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:44:18.909Z,1628981058.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:44:18.909Z,1628981058.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:44:18.910Z,1628981058.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:44:18.911Z,1628981058.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:44:19.326Z,1628981059.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18C,000,01F4E,186,80,80,8A,FF
2021-08-14T22:44:19.326Z,1628981059.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:44:19.327Z,1628981059.327 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:44:19.340Z,1628981059.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:44:19.725Z,1628981059.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:44:20.539Z,1628981060.539 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,01F14,186,80,80,9B,FF
2021-08-14T22:44:20.540Z,1628981060.540 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:44:20.543Z,1628981060.543 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224420.47*5F

2021-08-14T22:44:20.980Z,1628981060.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 439.859985 m, bearing: 304.415685 deg, deltaT: 4.848594 s, approachRate: -0.717736 m/s, LOS rate: 0.659072 deg/s, posRepo size: 4
2021-08-14T22:44:20.982Z,1628981060.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 439.859985 m,
      bearing: 304.415685 deg,
      approachRate: -0.717736 m/s,
      LOS rate: 0.659072 deg/s,
      cmd update: 2.636288 deg/s,
      cmd heading: 322.380161 deg,
      new cmd heading: 323.144553 deg.

2021-08-14T22:44:23.410Z,1628981063.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:44:23.769Z,1628981063.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:44:23.769Z,1628981063.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:44:23.769Z,1628981063.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:44:23.770Z,1628981063.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:44:24.165Z,1628981064.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,01F14,186,80,80,9B,FF
2021-08-14T22:44:24.165Z,1628981064.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:44:24.165Z,1628981064.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:44:24.167Z,1628981064.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:44:24.573Z,1628981064.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:44:25.409Z,1628981065.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,01ED8,185,80,80,8D,FF
2021-08-14T22:44:25.409Z,1628981065.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:44:25.412Z,1628981065.412 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224425.30*5A

2021-08-14T22:44:25.816Z,1628981065.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 436.260010 m, bearing: 301.381086 deg, deltaT: 4.857683 s, approachRate: -0.741089 m/s, LOS rate: -0.624701 deg/s, posRepo size: 4
2021-08-14T22:44:25.818Z,1628981065.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 436.260010 m,
      bearing: 301.381086 deg,
      approachRate: -0.741089 m/s,
      LOS rate: -0.624701 deg/s,
      cmd update: -2.498803 deg/s,
      cmd heading: 335.188687 deg,
      new cmd heading: 336.106677 deg.

2021-08-14T22:44:28.272Z,1628981068.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:44:28.621Z,1628981068.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:44:28.621Z,1628981068.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:44:28.621Z,1628981068.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:44:28.622Z,1628981068.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:44:29.005Z,1628981069.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,01ED8,185,80,80,8D,FF
2021-08-14T22:44:29.005Z,1628981069.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:44:29.006Z,1628981069.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:44:29.007Z,1628981069.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:44:29.433Z,1628981069.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:44:30.281Z,1628981070.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E6,000,01EA1,189,80,80,8F,FF
2021-08-14T22:44:30.281Z,1628981070.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:44:30.285Z,1628981070.285 [Micromodem](INFO): Nmea in: $SNTTA,0.432707,0.432382,,,224430.13*56

2021-08-14T22:44:30.660Z,1628981070.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 432.959991 m, bearing: 293.182838 deg, deltaT: 4.954194 s, approachRate: -0.666106 m/s, LOS rate: -1.654810 deg/s, posRepo size: 4
2021-08-14T22:44:30.662Z,1628981070.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 432.959991 m,
      bearing: 293.182838 deg,
      approachRate: -0.666106 m/s,
      LOS rate: -1.654810 deg/s,
      cmd update: -6.619239 deg/s,
      cmd heading: 322.791330 deg,
      new cmd heading: 322.214409 deg.

2021-08-14T22:44:33.076Z,1628981073.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:44:33.473Z,1628981073.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:44:33.473Z,1628981073.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:44:33.473Z,1628981073.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:44:33.474Z,1628981073.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:44:33.857Z,1628981073.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E6,000,01EA1,189,80,80,8F,FF
2021-08-14T22:44:33.857Z,1628981073.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:44:33.857Z,1628981073.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:44:33.859Z,1628981073.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:44:34.301Z,1628981074.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:44:35.097Z,1628981075.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,01E6C,186,80,80,96,FF
2021-08-14T22:44:35.098Z,1628981075.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:44:35.101Z,1628981075.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224434.99*59

2021-08-14T22:44:35.532Z,1628981075.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 429.779999 m, bearing: 302.095005 deg, deltaT: 4.678863 s, approachRate: -0.679651 m/s, LOS rate: 1.904772 deg/s, posRepo size: 4
2021-08-14T22:44:35.534Z,1628981075.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 429.779999 m,
      bearing: 302.095005 deg,
      approachRate: -0.679651 m/s,
      LOS rate: 1.904772 deg/s,
      cmd update: 7.619088 deg/s,
      cmd heading: 291.765003 deg,
      new cmd heading: 289.013690 deg.

2021-08-14T22:44:37.915Z,1628981077.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:44:38.302Z,1628981078.302 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:44:38.302Z,1628981078.302 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:44:38.303Z,1628981078.303 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:44:38.309Z,1628981078.309 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:44:38.721Z,1628981078.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,01E6C,186,80,80,96,FF
2021-08-14T22:44:38.721Z,1628981078.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:44:38.721Z,1628981078.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:44:38.723Z,1628981078.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:44:39.124Z,1628981079.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:44:39.954Z,1628981079.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,01E35,184,80,80,9D,FF
2021-08-14T22:44:39.955Z,1628981079.955 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:44:39.964Z,1628981079.964 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224439.85*59

2021-08-14T22:44:40.418Z,1628981080.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 426.479980 m, bearing: 305.660364 deg, deltaT: 4.945291 s, approachRate: -0.667305 m/s, LOS rate: 0.720960 deg/s, posRepo size: 4
2021-08-14T22:44:40.424Z,1628981080.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 426.479980 m,
      bearing: 305.660364 deg,
      approachRate: -0.667305 m/s,
      LOS rate: 0.720960 deg/s,
      cmd update: 2.883841 deg/s,
      cmd heading: 329.347183 deg,
      new cmd heading: 332.030550 deg.

2021-08-14T22:44:42.788Z,1628981082.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:44:43.147Z,1628981083.147 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:44:43.147Z,1628981083.147 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:44:43.148Z,1628981083.148 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:44:43.149Z,1628981083.149 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:44:43.553Z,1628981083.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,01E35,184,80,80,9D,FF
2021-08-14T22:44:43.553Z,1628981083.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:44:43.553Z,1628981083.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:44:43.555Z,1628981083.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:44:44.003Z,1628981084.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:44:44.798Z,1628981084.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,01DFD,183,80,80,90,FF
2021-08-14T22:44:44.799Z,1628981084.799 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:44:44.803Z,1628981084.803 [Micromodem](INFO): Nmea in: $SNTTA,,0.157821,,,224444.68*46

2021-08-14T22:44:45.228Z,1628981085.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 423.119995 m, bearing: 304.863827 deg, deltaT: 4.802307 s, approachRate: -0.699661 m/s, LOS rate: -0.165865 deg/s, posRepo size: 4
2021-08-14T22:44:45.230Z,1628981085.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 423.119995 m,
      bearing: 304.863827 deg,
      approachRate: -0.699661 m/s,
      LOS rate: -0.165865 deg/s,
      cmd update: -0.663462 deg/s,
      cmd heading: 343.220585 deg,
      new cmd heading: 344.283659 deg.

2021-08-14T22:44:47.646Z,1628981087.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:44:48.034Z,1628981088.034 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:44:48.034Z,1628981088.034 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:44:48.034Z,1628981088.034 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:44:48.035Z,1628981088.035 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:44:48.405Z,1628981088.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,01DFD,183,80,80,90,FF
2021-08-14T22:44:48.405Z,1628981088.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:44:48.405Z,1628981088.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:44:48.407Z,1628981088.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:44:48.809Z,1628981088.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:44:49.641Z,1628981089.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F6,000,01DC3,187,80,80,73,FF
2021-08-14T22:44:49.641Z,1628981089.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:44:49.644Z,1628981089.644 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224449.54*52

2021-08-14T22:44:50.137Z,1628981090.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 419.640015 m, bearing: 298.081859 deg, deltaT: 4.861192 s, approachRate: -0.715870 m/s, LOS rate: -1.395125 deg/s, posRepo size: 4
2021-08-14T22:44:50.139Z,1628981090.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 419.640015 m,
      bearing: 298.081859 deg,
      approachRate: -0.715870 m/s,
      LOS rate: -1.395125 deg/s,
      cmd update: -5.580498 deg/s,
      cmd heading: 340.000754 deg,
      new cmd heading: 339.721700 deg.

2021-08-14T22:44:52.486Z,1628981092.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:44:52.849Z,1628981092.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:44:52.849Z,1628981092.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:44:52.849Z,1628981092.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:44:52.850Z,1628981092.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:44:53.249Z,1628981093.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F6,000,01DC3,187,80,80,73,FF
2021-08-14T22:44:53.249Z,1628981093.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:44:53.249Z,1628981093.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:44:53.251Z,1628981093.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:44:53.657Z,1628981093.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:44:54.481Z,1628981094.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38F,000,01D91,189,80,80,98,FF
2021-08-14T22:44:54.481Z,1628981094.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:44:54.485Z,1628981094.485 [Micromodem](INFO): Nmea in: $SNTTA,,0.309364,,,224454.38*41

2021-08-14T22:44:54.908Z,1628981094.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 416.639984 m, bearing: 292.433429 deg, deltaT: 4.836481 s, approachRate: -0.620292 m/s, LOS rate: -1.167880 deg/s, posRepo size: 4
2021-08-14T22:44:54.910Z,1628981094.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 416.639984 m,
      bearing: 292.433429 deg,
      approachRate: -0.620292 m/s,
      LOS rate: -1.167880 deg/s,
      cmd update: -4.671520 deg/s,
      cmd heading: 313.069638 deg,
      new cmd heading: 311.006963 deg.

2021-08-14T22:44:57.364Z,1628981097.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:44:57.693Z,1628981097.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:44:57.693Z,1628981097.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:44:57.693Z,1628981097.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:44:57.694Z,1628981097.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:44:58.105Z,1628981098.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38F,000,01D91,189,80,80,98,FF
2021-08-14T22:44:58.105Z,1628981098.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:44:58.105Z,1628981098.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:44:58.107Z,1628981098.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:44:58.509Z,1628981098.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:44:59.357Z,1628981099.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,222,000,01990,188,80,80,92,FF
2021-08-14T22:44:59.358Z,1628981099.358 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:44:59.360Z,1628981099.360 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224459.24*54

2021-08-14T22:44:59.750Z,1628981099.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 355.139984 m, bearing: 298.957926 deg, deltaT: 4.831252 s, approachRate: -12.729620 m/s, LOS rate: 1.350477 deg/s, posRepo size: 4
2021-08-14T22:44:59.752Z,1628981099.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 355.139984 m,
      bearing: 298.957926 deg,
      approachRate: -12.729620 m/s,
      LOS rate: 1.350477 deg/s,
      cmd update: 5.401910 deg/s,
      cmd heading: 290.418319 deg,
      new cmd heading: 288.725650 deg.

2021-08-14T22:45:02.191Z,1628981102.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:45:02.541Z,1628981102.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:45:02.541Z,1628981102.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:45:02.541Z,1628981102.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:45:02.542Z,1628981102.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:45:02.949Z,1628981102.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
222,000,01990,188,80,80,92,FF
2021-08-14T22:45:02.949Z,1628981102.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:45:02.949Z,1628981102.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:45:02.951Z,1628981102.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:45:03.389Z,1628981103.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:45:04.177Z,1628981104.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,038,000,01D2A,184,80,80,80,FF
2021-08-14T22:45:04.177Z,1628981104.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:45:04.180Z,1628981104.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224504.08*53

2021-08-14T22:45:04.607Z,1628981104.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 410.460022 m, bearing: 305.278911 deg, deltaT: 4.888882 s, approachRate: 11.315478 m/s, LOS rate: 1.292931 deg/s, posRepo size: 4
2021-08-14T22:45:04.609Z,1628981104.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 410.460022 m,
      bearing: 305.278911 deg,
      approachRate: 11.315478 m/s,
      LOS rate: 1.292931 deg/s,
      cmd update: 5.171722 deg/s,
      cmd heading: 316.795111 deg,
      new cmd heading: 318.613540 deg.

2021-08-14T22:45:07.003Z,1628981107.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:45:07.405Z,1628981107.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:45:07.405Z,1628981107.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:45:07.405Z,1628981107.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:45:07.406Z,1628981107.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:45:07.805Z,1628981107.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
038,000,01D2A,184,80,80,80,FF
2021-08-14T22:45:07.805Z,1628981107.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:45:07.805Z,1628981107.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:45:07.807Z,1628981107.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:45:08.205Z,1628981108.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:45:09.037Z,1628981109.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,01CF0,186,80,80,9A,FF
2021-08-14T22:45:09.037Z,1628981109.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:45:09.040Z,1628981109.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224508.94*5A

2021-08-14T22:45:09.467Z,1628981109.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 406.979980 m, bearing: 300.819617 deg, deltaT: 4.816044 s, approachRate: -0.722593 m/s, LOS rate: -0.925925 deg/s, posRepo size: 4
2021-08-14T22:45:09.485Z,1628981109.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 406.979980 m,
      bearing: 300.819617 deg,
      approachRate: -0.722593 m/s,
      LOS rate: -0.925925 deg/s,
      cmd update: -3.703699 deg/s,
      cmd heading: 341.715283 deg,
      new cmd heading: 343.672020 deg.

2021-08-14T22:45:11.861Z,1628981111.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:45:12.253Z,1628981112.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:45:12.253Z,1628981112.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:45:12.253Z,1628981112.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:45:12.254Z,1628981112.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:45:12.647Z,1628981112.647 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,01CF0,186,80,80,9A,FF
2021-08-14T22:45:12.647Z,1628981112.647 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:45:12.647Z,1628981112.647 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:45:12.649Z,1628981112.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:45:13.057Z,1628981113.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:45:13.874Z,1628981113.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CC,000,01CB6,189,80,80,9F,FF
2021-08-14T22:45:13.874Z,1628981113.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:45:13.877Z,1628981113.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224513.78*52

2021-08-14T22:45:14.294Z,1628981114.294 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T22:45:14.353Z,1628981114.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 403.500000 m, bearing: 293.660049 deg, deltaT: 4.795141 s, approachRate: -0.725731 m/s, LOS rate: -1.493088 deg/s, posRepo size: 4
2021-08-14T22:45:14.355Z,1628981114.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 403.500000 m,
      bearing: 293.660049 deg,
      approachRate: -0.725731 m/s,
      LOS rate: -1.493088 deg/s,
      cmd update: -5.972352 deg/s,
      cmd heading: 323.924255 deg,
      new cmd heading: 322.311546 deg.

2021-08-14T22:45:16.411Z,1628981116.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:45:16.689Z,1628981116.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:45:16.689Z,1628981116.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:45:16.689Z,1628981116.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:45:16.690Z,1628981116.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:45:17.089Z,1628981117.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CC,000,01CB6,189,80,80,9F,FF
2021-08-14T22:45:17.089Z,1628981117.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:45:17.089Z,1628981117.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:45:17.091Z,1628981117.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:45:17.496Z,1628981117.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:45:18.347Z,1628981118.347 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,392,000,01C8B,189,80,80,8F,FF
2021-08-14T22:45:18.348Z,1628981118.348 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:45:18.351Z,1628981118.351 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224518.22*56

2021-08-14T22:45:18.744Z,1628981118.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 400.919983 m, bearing: 292.013892 deg, deltaT: 4.541253 s, approachRate: -0.568129 m/s, LOS rate: -0.362490 deg/s, posRepo size: 4
2021-08-14T22:45:18.746Z,1628981118.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 400.919983 m,
      bearing: 292.013892 deg,
      approachRate: -0.568129 m/s,
      LOS rate: -0.362490 deg/s,
      cmd update: -1.449959 deg/s,
      cmd heading: 296.823667 deg,
      new cmd heading: 294.949298 deg.

2021-08-14T22:45:21.147Z,1628981121.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:45:21.537Z,1628981121.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:45:21.538Z,1628981121.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:45:21.538Z,1628981121.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:45:21.539Z,1628981121.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:45:21.937Z,1628981121.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
392,000,01C8B,189,80,80,8F,FF
2021-08-14T22:45:21.937Z,1628981121.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:45:21.937Z,1628981121.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:45:21.980Z,1628981121.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:45:22.380Z,1628981122.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:45:23.163Z,1628981123.163 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B9,000,01C56,186,80,80,92,FF
2021-08-14T22:45:23.164Z,1628981123.164 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:45:23.171Z,1628981123.171 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224523.12*5D

2021-08-14T22:45:23.594Z,1628981123.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 397.739990 m, bearing: 300.021032 deg, deltaT: 4.804054 s, approachRate: -0.661939 m/s, LOS rate: 1.666747 deg/s, posRepo size: 4
2021-08-14T22:45:23.597Z,1628981123.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 397.739990 m,
      bearing: 300.021032 deg,
      approachRate: -0.661939 m/s,
      LOS rate: 1.666747 deg/s,
      cmd update: 6.666986 deg/s,
      cmd heading: 289.858017 deg,
      new cmd heading: 289.335292 deg.

2021-08-14T22:45:26.044Z,1628981126.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:45:26.393Z,1628981126.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:45:26.393Z,1628981126.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:45:26.393Z,1628981126.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:45:26.394Z,1628981126.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:45:26.785Z,1628981126.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B9,000,01C56,186,80,80,92,FF
2021-08-14T22:45:26.785Z,1628981126.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:45:26.785Z,1628981126.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:45:26.787Z,1628981126.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:45:27.197Z,1628981127.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:45:28.041Z,1628981128.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,01C21,182,80,80,64,FF
2021-08-14T22:45:28.041Z,1628981128.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:45:28.044Z,1628981128.044 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224527.92*51

2021-08-14T22:45:28.438Z,1628981128.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 394.559998 m, bearing: 304.214986 deg, deltaT: 4.883756 s, approachRate: -0.651137 m/s, LOS rate: 0.858756 deg/s, posRepo size: 4
2021-08-14T22:45:28.460Z,1628981128.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 394.559998 m,
      bearing: 304.214986 deg,
      approachRate: -0.651137 m/s,
      LOS rate: 0.858756 deg/s,
      cmd update: 3.435024 deg/s,
      cmd heading: 322.418503 deg,
      new cmd heading: 324.554192 deg.

2021-08-14T22:45:30.847Z,1628981130.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:45:31.229Z,1628981131.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:45:31.229Z,1628981131.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:45:31.230Z,1628981131.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:45:31.231Z,1628981131.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:45:31.633Z,1628981131.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,01C21,182,80,80,64,FF
2021-08-14T22:45:31.633Z,1628981131.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:45:31.633Z,1628981131.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:45:31.635Z,1628981131.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:45:32.071Z,1628981132.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:45:32.096Z,1628981132.096 [Micromodem](INFO): Nmea in: 2B

2021-08-14T22:45:32.097Z,1628981132.097 [Micromodem](ERROR): Response from modem failed NMEA checksum: 2B
 expected 0
2021-08-14T22:45:32.845Z,1628981132.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E9,000,01BE5,186,80,80,81,FF
2021-08-14T22:45:32.845Z,1628981132.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:45:33.280Z,1628981133.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 390.959991 m, bearing: 299.762851 deg, deltaT: 4.740553 s, approachRate: -0.759406 m/s, LOS rate: -0.939160 deg/s, posRepo size: 4
2021-08-14T22:45:33.282Z,1628981133.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 390.959991 m,
      bearing: 299.762851 deg,
      approachRate: -0.759406 m/s,
      LOS rate: -0.939160 deg/s,
      cmd update: -3.756638 deg/s,
      cmd heading: 338.716064 deg,
      new cmd heading: 340.149761 deg.

2021-08-14T22:45:35.371Z,1628981135.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:45:35.673Z,1628981135.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:45:35.673Z,1628981135.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:45:35.673Z,1628981135.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:45:35.674Z,1628981135.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:45:36.089Z,1628981136.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E9,000,01BE5,186,80,80,81,FF
2021-08-14T22:45:36.089Z,1628981136.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:45:36.089Z,1628981136.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:45:36.091Z,1628981136.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:45:36.524Z,1628981136.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:45:37.351Z,1628981137.351 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B5,000,01BB4,189,80,80,7F,FF
2021-08-14T22:45:37.353Z,1628981137.353 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:45:37.355Z,1628981137.355 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224537.22*5B

2021-08-14T22:45:37.776Z,1628981137.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 388.019989 m, bearing: 294.179226 deg, deltaT: 4.519468 s, approachRate: -0.650520 m/s, LOS rate: -1.235461 deg/s, posRepo size: 4
2021-08-14T22:45:37.778Z,1628981137.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 388.019989 m,
      bearing: 294.179226 deg,
      approachRate: -0.650520 m/s,
      LOS rate: -1.235461 deg/s,
      cmd update: -4.941843 deg/s,
      cmd heading: 321.738002 deg,
      new cmd heading: 320.257424 deg.

2021-08-14T22:45:40.202Z,1628981140.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:45:40.557Z,1628981140.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:45:40.557Z,1628981140.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:45:40.557Z,1628981140.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:45:40.558Z,1628981140.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:45:40.961Z,1628981140.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B5,000,01BB4,189,80,80,7F,FF
2021-08-14T22:45:40.961Z,1628981140.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:45:40.961Z,1628981140.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:45:40.963Z,1628981140.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:45:41.388Z,1628981141.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:45:42.197Z,1628981142.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B0,000,01B8C,189,80,80,6D,FF
2021-08-14T22:45:42.197Z,1628981142.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:45:42.224Z,1628981142.224 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224542.09*50

2021-08-14T22:45:42.619Z,1628981142.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 385.619995 m, bearing: 289.256380 deg, deltaT: 4.894598 s, approachRate: -0.490335 m/s, LOS rate: -1.005771 deg/s, posRepo size: 4
2021-08-14T22:45:42.638Z,1628981142.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 385.619995 m,
      bearing: 289.256380 deg,
      approachRate: -0.490335 m/s,
      LOS rate: -1.005771 deg/s,
      cmd update: -4.023084 deg/s,
      cmd heading: 297.550725 deg,
      new cmd heading: 295.854744 deg.

2021-08-14T22:45:45.040Z,1628981145.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:45:45.409Z,1628981145.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:45:45.409Z,1628981145.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:45:45.409Z,1628981145.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:45:45.410Z,1628981145.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:45:45.818Z,1628981145.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B0,000,01B8C,189,80,80,6D,FF
2021-08-14T22:45:45.818Z,1628981145.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:45:45.818Z,1628981145.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:45:45.820Z,1628981145.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:45:46.217Z,1628981146.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:45:47.049Z,1628981147.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,01B4F,186,80,80,92,FF
2021-08-14T22:45:47.049Z,1628981147.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:45:47.052Z,1628981147.052 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224546.95*51

2021-08-14T22:45:47.475Z,1628981147.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 381.959961 m, bearing: 299.075733 deg, deltaT: 4.819365 s, approachRate: -0.759443 m/s, LOS rate: 2.037479 deg/s, posRepo size: 4
2021-08-14T22:45:47.477Z,1628981147.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 381.959961 m,
      bearing: 299.075733 deg,
      approachRate: -0.759443 m/s,
      LOS rate: 2.037479 deg/s,
      cmd update: 8.149915 deg/s,
      cmd heading: 278.274317 deg,
      new cmd heading: 276.637534 deg.

2021-08-14T22:45:49.883Z,1628981149.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:45:50.269Z,1628981150.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:45:50.269Z,1628981150.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:45:50.270Z,1628981150.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:45:50.294Z,1628981150.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:45:50.294Z,1628981150.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,01B4F,186,80,80,92,FF
2021-08-14T22:45:50.294Z,1628981150.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:45:50.294Z,1628981150.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:45:50.296Z,1628981150.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:45:50.686Z,1628981150.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:45:51.487Z,1628981151.487 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,01B1D,183,80,80,8D,FF
2021-08-14T22:45:51.489Z,1628981151.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:45:51.496Z,1628981151.496 [Micromodem](INFO): Nmea in: $SNTTA,0.255164,,,,224551.43*43

2021-08-14T22:45:51.912Z,1628981151.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 378.960022 m, bearing: 301.423652 deg, deltaT: 4.490140 s, approachRate: -0.668117 m/s, LOS rate: 0.522905 deg/s, posRepo size: 4
2021-08-14T22:45:51.914Z,1628981151.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 378.960022 m,
      bearing: 301.423652 deg,
      approachRate: -0.668117 m/s,
      LOS rate: 0.522905 deg/s,
      cmd update: 2.091622 deg/s,
      cmd heading: 315.025739 deg,
      new cmd heading: 317.753948 deg.

2021-08-14T22:45:54.419Z,1628981154.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:45:54.729Z,1628981154.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:45:54.729Z,1628981154.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:45:54.729Z,1628981154.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:45:54.730Z,1628981154.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:45:55.117Z,1628981155.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,01B1D,183,80,80,8D,FF
2021-08-14T22:45:55.118Z,1628981155.118 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:45:55.118Z,1628981155.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:45:55.119Z,1628981155.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:45:55.529Z,1628981155.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:45:56.373Z,1628981156.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,01AE6,184,80,80,61,FF
2021-08-14T22:45:56.374Z,1628981156.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:45:56.377Z,1628981156.377 [Micromodem](INFO): Nmea in: $SNTTA,0.252952,,,,224556.25*4E

2021-08-14T22:45:56.776Z,1628981156.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 375.660004 m, bearing: 300.466633 deg, deltaT: 4.896231 s, approachRate: -0.673992 m/s, LOS rate: -0.195460 deg/s, posRepo size: 4
2021-08-14T22:45:56.778Z,1628981156.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 375.660004 m,
      bearing: 300.466633 deg,
      approachRate: -0.673992 m/s,
      LOS rate: -0.195460 deg/s,
      cmd update: -0.781841 deg/s,
      cmd heading: 325.276898 deg,
      new cmd heading: 325.900333 deg.

2021-08-14T22:45:58.545Z,1628981158.545 [CTD_Seabird](ERROR): Failed to parse device response: 6.05,24.287623
2021-08-14T22:45:59.195Z,1628981159.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:45:59.581Z,1628981159.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:45:59.581Z,1628981159.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:45:59.581Z,1628981159.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:45:59.582Z,1628981159.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:45:59.617Z,1628981159.617 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T22:45:59.981Z,1628981159.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,01AE6,184,80,80,61,FF
2021-08-14T22:45:59.981Z,1628981159.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:45:59.982Z,1628981159.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:45:59.987Z,1628981159.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:46:00.400Z,1628981160.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:46:01.198Z,1628981161.198 [Micromodem](INFO): Nmea in: $SNTTA,0.263157,,,,224601.12*44

2021-08-14T22:46:02.082Z,1628981162.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:46:03.622Z,1628981163.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,184,80,80,61,FF
2021-08-14T22:46:03.622Z,1628981163.622 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,184,80,80,61,FF
2021-08-14T22:46:03.623Z,1628981163.623 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:46:04.843Z,1628981164.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:46:05.226Z,1628981165.226 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:46:05.226Z,1628981165.226 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:46:05.226Z,1628981165.226 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:46:05.227Z,1628981165.227 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:46:05.636Z,1628981165.636 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,184,80,80,61,FF
2021-08-14T22:46:05.636Z,1628981165.636 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:46:05.636Z,1628981165.636 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:46:05.638Z,1628981165.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:46:06.064Z,1628981166.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:46:06.862Z,1628981166.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31B,000,01A70,189,80,80,7E,FF
2021-08-14T22:46:06.863Z,1628981166.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:46:06.867Z,1628981166.867 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224606.77*5A

2021-08-14T22:46:07.276Z,1628981167.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 368.579987 m, bearing: 291.712352 deg, deltaT: 10.437849 s, approachRate: -0.678302 m/s, LOS rate: -0.838705 deg/s, posRepo size: 4
2021-08-14T22:46:07.278Z,1628981167.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 368.579987 m,
      bearing: 291.712352 deg,
      approachRate: -0.678302 m/s,
      LOS rate: -0.838705 deg/s,
      cmd update: -3.354822 deg/s,
      cmd heading: 317.121807 deg,
      new cmd heading: 316.834881 deg.

2021-08-14T22:46:09.713Z,1628981169.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:46:10.082Z,1628981170.082 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:46:10.082Z,1628981170.082 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:46:10.082Z,1628981170.082 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:46:10.083Z,1628981170.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:46:10.469Z,1628981170.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31B,000,01A70,189,80,80,7E,FF
2021-08-14T22:46:10.469Z,1628981170.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:46:10.469Z,1628981170.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:46:10.471Z,1628981170.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:46:10.879Z,1628981170.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:46:11.702Z,1628981171.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,01A38,188,80,80,77,FF
2021-08-14T22:46:11.702Z,1628981171.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:46:11.706Z,1628981171.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224611.60*5A

2021-08-14T22:46:12.140Z,1628981172.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 365.220001 m, bearing: 295.344838 deg, deltaT: 4.877251 s, approachRate: -0.688910 m/s, LOS rate: 0.744781 deg/s, posRepo size: 4
2021-08-14T22:46:12.142Z,1628981172.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 365.220001 m,
      bearing: 295.344838 deg,
      approachRate: -0.688910 m/s,
      LOS rate: 0.744781 deg/s,
      cmd update: 2.979126 deg/s,
      cmd heading: 300.751259 deg,
      new cmd heading: 299.571566 deg.

2021-08-14T22:46:14.551Z,1628981174.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:46:14.917Z,1628981174.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:46:14.917Z,1628981174.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:46:14.917Z,1628981174.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:46:14.918Z,1628981174.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:46:15.377Z,1628981175.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,01A38,188,80,80,77,FF
2021-08-14T22:46:15.377Z,1628981175.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:46:15.377Z,1628981175.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:46:15.379Z,1628981175.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:46:15.727Z,1628981175.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:46:16.529Z,1628981176.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,019FD,186,80,80,74,FF
2021-08-14T22:46:16.529Z,1628981176.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:46:16.953Z,1628981176.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224616.51*5F

2021-08-14T22:46:16.980Z,1628981176.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 361.679962 m, bearing: 301.204239 deg, deltaT: 4.845101 s, approachRate: -0.730643 m/s, LOS rate: 1.209345 deg/s, posRepo size: 4
2021-08-14T22:46:16.982Z,1628981176.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 361.679962 m,
      bearing: 301.204239 deg,
      approachRate: -0.730643 m/s,
      LOS rate: 1.209345 deg/s,
      cmd update: 4.837382 deg/s,
      cmd heading: 315.135225 deg,
      new cmd heading: 316.216764 deg.

2021-08-14T22:46:19.438Z,1628981179.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:46:19.765Z,1628981179.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:46:19.765Z,1628981179.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:46:19.765Z,1628981179.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:46:19.766Z,1628981179.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:46:20.173Z,1628981180.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,019FD,186,80,80,74,FF
2021-08-14T22:46:20.173Z,1628981180.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:46:20.173Z,1628981180.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:46:20.175Z,1628981180.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:46:20.576Z,1628981180.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:46:21.417Z,1628981181.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,176,000,019C3,186,80,80,8E,FF
2021-08-14T22:46:21.417Z,1628981181.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:46:21.421Z,1628981181.421 [Micromodem](INFO): Nmea in: $SNTTA,0.241464,,,,224621.31*42

2021-08-14T22:46:21.820Z,1628981181.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 358.199982 m, bearing: 298.921289 deg, deltaT: 4.874791 s, approachRate: -0.713873 m/s, LOS rate: -0.468317 deg/s, posRepo size: 4
2021-08-14T22:46:21.822Z,1628981181.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 358.199982 m,
      bearing: 298.921289 deg,
      approachRate: -0.713873 m/s,
      LOS rate: -0.468317 deg/s,
      cmd update: -1.873270 deg/s,
      cmd heading: 338.800145 deg,
      new cmd heading: 340.305534 deg.

2021-08-14T22:46:24.255Z,1628981184.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:46:24.613Z,1628981184.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:46:24.613Z,1628981184.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:46:24.613Z,1628981184.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:46:24.614Z,1628981184.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:46:25.013Z,1628981185.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
176,000,019C3,186,80,80,8E,FF
2021-08-14T22:46:25.013Z,1628981185.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:46:25.013Z,1628981185.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:46:25.015Z,1628981185.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:46:25.416Z,1628981185.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:46:26.249Z,1628981186.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,390,000,0198C,189,80,80,84,FF
2021-08-14T22:46:26.249Z,1628981186.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:46:26.253Z,1628981186.253 [Micromodem](INFO): Nmea in: $SNTTA,0.424490,,,,224626.15*4D

2021-08-14T22:46:26.666Z,1628981186.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 354.899963 m, bearing: 290.880709 deg, deltaT: 4.863068 s, approachRate: -0.678588 m/s, LOS rate: -1.653397 deg/s, posRepo size: 4
2021-08-14T22:46:26.688Z,1628981186.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.899963 m,
      bearing: 290.880709 deg,
      approachRate: -0.678588 m/s,
      LOS rate: -1.653397 deg/s,
      cmd update: -6.613587 deg/s,
      cmd heading: 329.682334 deg,
      new cmd heading: 329.139166 deg.

2021-08-14T22:46:29.071Z,1628981189.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:46:29.459Z,1628981189.459 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:46:29.459Z,1628981189.459 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:46:29.459Z,1628981189.459 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:46:29.461Z,1628981189.461 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:46:29.857Z,1628981189.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
390,000,0198C,189,80,80,84,FF
2021-08-14T22:46:29.857Z,1628981189.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:46:29.858Z,1628981189.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:46:29.859Z,1628981189.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:46:30.260Z,1628981190.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:46:31.089Z,1628981191.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A9,000,0195D,189,80,80,A0,FF
2021-08-14T22:46:31.089Z,1628981191.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:46:31.092Z,1628981191.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224630.99*5F

2021-08-14T22:46:31.513Z,1628981191.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 352.079987 m, bearing: 292.193280 deg, deltaT: 4.755585 s, approachRate: -0.592982 m/s, LOS rate: 0.276006 deg/s, posRepo size: 4
2021-08-14T22:46:31.515Z,1628981191.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.079987 m,
      bearing: 292.193280 deg,
      approachRate: -0.592982 m/s,
      LOS rate: 0.276006 deg/s,
      cmd update: 1.104025 deg/s,
      cmd heading: 298.389725 deg,
      new cmd heading: 295.713722 deg.

2021-08-14T22:46:33.915Z,1628981193.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:46:34.326Z,1628981194.326 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:46:34.327Z,1628981194.327 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:46:34.332Z,1628981194.332 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:46:34.333Z,1628981194.333 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:46:34.709Z,1628981194.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A9,000,0195D,189,80,80,A0,FF
2021-08-14T22:46:34.709Z,1628981194.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:46:34.709Z,1628981194.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:46:34.711Z,1628981194.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:46:35.121Z,1628981195.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:46:35.519Z,1628981195.519 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:46:35.942Z,1628981195.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DE,000,0192E,186,80,80,75,FF
2021-08-14T22:46:35.943Z,1628981195.943 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:46:35.946Z,1628981195.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224635.84*56

2021-08-14T22:46:36.403Z,1628981196.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 349.260010 m, bearing: 297.578966 deg, deltaT: 4.905634 s, approachRate: -0.574845 m/s, LOS rate: 1.097857 deg/s, posRepo size: 4
2021-08-14T22:46:36.406Z,1628981196.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 349.260010 m,
      bearing: 297.578966 deg,
      approachRate: -0.574845 m/s,
      LOS rate: 1.097857 deg/s,
      cmd update: 4.391429 deg/s,
      cmd heading: 303.826849 deg,
      new cmd heading: 304.236301 deg.

2021-08-14T22:46:38.773Z,1628981198.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:46:39.145Z,1628981199.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:46:39.145Z,1628981199.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:46:39.145Z,1628981199.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:46:39.146Z,1628981199.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:46:39.561Z,1628981199.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DE,000,0192E,186,80,80,75,FF
2021-08-14T22:46:39.561Z,1628981199.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:46:39.561Z,1628981199.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:46:39.563Z,1628981199.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:46:39.999Z,1628981199.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:46:40.801Z,1628981200.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E1,000,018F7,186,80,80,59,FF
2021-08-14T22:46:40.801Z,1628981200.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:46:40.804Z,1628981200.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224640.69*57

2021-08-14T22:46:41.196Z,1628981201.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 345.959991 m, bearing: 298.898203 deg, deltaT: 4.778449 s, approachRate: -0.690605 m/s, LOS rate: 0.276081 deg/s, posRepo size: 4
2021-08-14T22:46:41.198Z,1628981201.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 345.959991 m,
      bearing: 298.898203 deg,
      approachRate: -0.690605 m/s,
      LOS rate: 0.276081 deg/s,
      cmd update: 1.104323 deg/s,
      cmd heading: 324.849613 deg,
      new cmd heading: 326.501791 deg.

2021-08-14T22:46:43.649Z,1628981203.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:46:44.029Z,1628981204.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:46:44.029Z,1628981204.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:46:44.029Z,1628981204.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:46:44.030Z,1628981204.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:46:44.401Z,1628981204.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E1,000,018F7,186,80,80,59,FF
2021-08-14T22:46:44.401Z,1628981204.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:46:44.401Z,1628981204.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:46:44.403Z,1628981204.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:46:44.816Z,1628981204.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:46:45.641Z,1628981205.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,232,000,018BC,188,80,80,68,FF
2021-08-14T22:46:45.641Z,1628981205.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:46:45.645Z,1628981205.645 [Micromodem](INFO): Nmea in: $SNTTA,0.231022,,,,224645.53*45

2021-08-14T22:46:45.650Z,1628981205.650 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:46:46.109Z,1628981206.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 342.420013 m, bearing: 292.960938 deg, deltaT: 4.879978 s, approachRate: -0.725409 m/s, LOS rate: -1.216658 deg/s, posRepo size: 4
2021-08-14T22:46:46.111Z,1628981206.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 342.420013 m,
      bearing: 292.960938 deg,
      approachRate: -0.725409 m/s,
      LOS rate: -1.216658 deg/s,
      cmd update: -4.866632 deg/s,
      cmd heading: 330.233926 deg,
      new cmd heading: 330.689940 deg.

2021-08-14T22:46:48.497Z,1628981208.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:46:48.853Z,1628981208.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:46:48.853Z,1628981208.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:46:48.853Z,1628981208.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:46:48.854Z,1628981208.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:46:49.253Z,1628981209.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
232,000,018BC,188,80,80,68,FF
2021-08-14T22:46:49.253Z,1628981209.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:46:49.253Z,1628981209.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:46:49.255Z,1628981209.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:46:49.669Z,1628981209.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:46:50.082Z,1628981210.082 [Micromodem](INFO): Nmea in: $SNTTA,0.305335,0.305648,,,224650.39*5C

2021-08-14T22:46:50.461Z,1628981210.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36B,000,01892,189,80,80,70,FF
2021-08-14T22:46:50.461Z,1628981210.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:46:50.469Z,1628981210.469 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:46:50.908Z,1628981210.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 339.899994 m, bearing: 292.217978 deg, deltaT: 4.806290 s, approachRate: -0.524317 m/s, LOS rate: -0.154581 deg/s, posRepo size: 4
2021-08-14T22:46:50.910Z,1628981210.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.899994 m,
      bearing: 292.217978 deg,
      approachRate: -0.524317 m/s,
      LOS rate: -0.154581 deg/s,
      cmd update: -0.618324 deg/s,
      cmd heading: 306.842073 deg,
      new cmd heading: 304.865359 deg.

2021-08-14T22:46:53.351Z,1628981213.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:46:53.705Z,1628981213.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:46:53.705Z,1628981213.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:46:53.705Z,1628981213.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:46:53.706Z,1628981213.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:46:54.103Z,1628981214.103 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36B,000,01892,189,80,80,70,FF
2021-08-14T22:46:54.103Z,1628981214.103 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:46:54.103Z,1628981214.103 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:46:54.105Z,1628981214.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:46:54.504Z,1628981214.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:46:55.385Z,1628981215.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,245,000,0185D,189,80,80,80,FF
2021-08-14T22:46:55.386Z,1628981215.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:46:55.388Z,1628981215.388 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224655.24*5A

2021-08-14T22:46:55.789Z,1628981215.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 336.719971 m, bearing: 295.914094 deg, deltaT: 4.940388 s, approachRate: -0.643679 m/s, LOS rate: 0.748143 deg/s, posRepo size: 4
2021-08-14T22:46:55.791Z,1628981215.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 336.719971 m,
      bearing: 295.914094 deg,
      approachRate: -0.643679 m/s,
      LOS rate: 0.748143 deg/s,
      cmd update: 2.992571 deg/s,
      cmd heading: 303.787592 deg,
      new cmd heading: 303.572982 deg.

2021-08-14T22:46:56.559Z,1628981216.559 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T22:46:58.185Z,1628981218.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:46:58.537Z,1628981218.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:46:58.537Z,1628981218.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:46:58.537Z,1628981218.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:46:58.538Z,1628981218.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:46:58.945Z,1628981218.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
245,000,0185D,189,80,80,80,FF
2021-08-14T22:46:58.945Z,1628981218.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:46:58.946Z,1628981218.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:46:58.947Z,1628981218.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:46:59.396Z,1628981219.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:47:00.192Z,1628981220.192 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,112,000,0182A,185,80,80,50,FF
2021-08-14T22:47:00.193Z,1628981220.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:47:00.196Z,1628981220.196 [Micromodem](INFO): Nmea in: $SNTTA,,0.418754,,,224700.08*40

2021-08-14T22:47:00.597Z,1628981220.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 333.659973 m, bearing: 296.208065 deg, deltaT: 4.785090 s, approachRate: -0.639486 m/s, LOS rate: 0.061435 deg/s, posRepo size: 4
2021-08-14T22:47:00.599Z,1628981220.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 333.659973 m,
      bearing: 296.208065 deg,
      approachRate: -0.639486 m/s,
      LOS rate: 0.061435 deg/s,
      cmd update: 0.245739 deg/s,
      cmd heading: 318.120860 deg,
      new cmd heading: 319.212987 deg.

2021-08-14T22:47:01.423Z,1628981221.423 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:47:03.011Z,1628981223.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:03.393Z,1628981223.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:47:03.393Z,1628981223.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:47:03.393Z,1628981223.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:47:03.394Z,1628981223.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:47:03.797Z,1628981223.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
112,000,0182A,185,80,80,50,FF
2021-08-14T22:47:03.797Z,1628981223.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:47:03.797Z,1628981223.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:47:03.799Z,1628981223.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:47:04.209Z,1628981224.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:47:05.033Z,1628981225.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EF,000,017E8,187,80,80,51,FF
2021-08-14T22:47:05.033Z,1628981225.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:47:05.060Z,1628981225.060 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224704.93*53

2021-08-14T22:47:05.466Z,1628981225.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 329.699982 m, bearing: 294.634061 deg, deltaT: 4.861754 s, approachRate: -0.814519 m/s, LOS rate: -0.323752 deg/s, posRepo size: 4
2021-08-14T22:47:05.468Z,1628981225.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 329.699982 m,
      bearing: 294.634061 deg,
      approachRate: -0.814519 m/s,
      LOS rate: -0.323752 deg/s,
      cmd update: -1.295009 deg/s,
      cmd heading: 319.313511 deg,
      new cmd heading: 319.407192 deg.

2021-08-14T22:47:07.874Z,1628981227.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:08.241Z,1628981228.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:47:08.241Z,1628981228.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:47:08.241Z,1628981228.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:47:08.242Z,1628981228.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:47:08.657Z,1628981228.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EF,000,017E8,187,80,80,51,FF
2021-08-14T22:47:08.657Z,1628981228.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:47:08.657Z,1628981228.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:47:08.659Z,1628981228.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:47:09.052Z,1628981229.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:47:09.867Z,1628981229.867 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CE,000,017B1,189,80,80,5C,FF
2021-08-14T22:47:09.867Z,1628981229.867 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:47:09.874Z,1628981229.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224709.79*5A

2021-08-14T22:47:10.366Z,1628981230.366 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:47:10.381Z,1628981230.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 326.399994 m, bearing: 289.342195 deg, deltaT: 4.796534 s, approachRate: -0.687994 m/s, LOS rate: -1.103269 deg/s, posRepo size: 4
2021-08-14T22:47:10.383Z,1628981230.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 326.399994 m,
      bearing: 289.342195 deg,
      approachRate: -0.687994 m/s,
      LOS rate: -1.103269 deg/s,
      cmd update: -4.413075 deg/s,
      cmd heading: 313.090971 deg,
      new cmd heading: 312.454976 deg.

2021-08-14T22:47:12.396Z,1628981232.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:12.698Z,1628981232.698 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:47:12.698Z,1628981232.698 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:47:12.698Z,1628981232.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:47:12.699Z,1628981232.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:47:13.085Z,1628981233.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CE,000,017B1,189,80,80,5C,FF
2021-08-14T22:47:13.085Z,1628981233.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:47:13.085Z,1628981233.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:47:13.087Z,1628981233.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:47:13.503Z,1628981233.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:47:14.330Z,1628981234.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20D,000,01790,187,80,80,55,FF
2021-08-14T22:47:14.331Z,1628981234.331 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:47:14.347Z,1628981234.347 [Micromodem](INFO): Nmea in: $SNTTA,0.388652,0.388896,,,224714.22*5E

2021-08-14T22:47:14.744Z,1628981234.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 324.419983 m, bearing: 293.957299 deg, deltaT: 4.544265 s, approachRate: -0.435716 m/s, LOS rate: 1.015589 deg/s, posRepo size: 4
2021-08-14T22:47:14.746Z,1628981234.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 324.419983 m,
      bearing: 293.957299 deg,
      approachRate: -0.435716 m/s,
      LOS rate: 1.015589 deg/s,
      cmd update: 4.062355 deg/s,
      cmd heading: 293.055710 deg,
      new cmd heading: 291.671871 deg.

2021-08-14T22:47:15.531Z,1628981235.531 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T22:47:17.154Z,1628981237.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:17.530Z,1628981237.530 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:47:17.530Z,1628981237.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:47:17.530Z,1628981237.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:47:17.531Z,1628981237.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:47:17.941Z,1628981237.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20D,000,01790,187,80,80,55,FF
2021-08-14T22:47:17.941Z,1628981237.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:47:17.941Z,1628981237.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:47:17.943Z,1628981237.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:47:18.363Z,1628981238.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:47:19.171Z,1628981239.171 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224719.07*52

2021-08-14T22:47:20.045Z,1628981240.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:21.569Z,1628981241.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:21.569Z,1628981241.569 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:21.569Z,1628981241.569 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:47:22.802Z,1628981242.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:23.193Z,1628981243.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:47:23.193Z,1628981243.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:47:23.193Z,1628981243.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:47:23.194Z,1628981243.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:47:23.589Z,1628981243.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:23.589Z,1628981243.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:47:23.589Z,1628981243.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:47:23.591Z,1628981243.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:47:24.043Z,1628981244.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:47:24.830Z,1628981244.830 [Micromodem](INFO): Nmea in: $SNTTA,0.099016,,,,224724.72*47

2021-08-14T22:47:25.648Z,1628981245.648 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-14T22:47:25.648Z,1628981245.648 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-14T22:47:25.648Z,1628981245.648 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-14T22:47:25.721Z,1628981245.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:25.896Z,1628981245.896 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-14T22:47:26.172Z,1628981246.172 [RDI_PathfinderUp](INFO): Powering down
2021-08-14T22:47:26.901Z,1628981246.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:26.901Z,1628981246.901 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:26.901Z,1628981246.901 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:47:27.064Z,1628981247.064 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-14T22:47:27.064Z,1628981247.064 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-14T22:47:28.538Z,1628981248.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:28.926Z,1628981248.926 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:47:28.926Z,1628981248.926 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:47:28.926Z,1628981248.926 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:47:28.927Z,1628981248.927 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:47:29.334Z,1628981249.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:29.334Z,1628981249.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:47:29.335Z,1628981249.335 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:47:29.336Z,1628981249.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:47:29.735Z,1628981249.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:47:30.555Z,1628981250.555 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224730.47*5D

2021-08-14T22:47:31.395Z,1628981251.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:32.957Z,1628981252.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:32.957Z,1628981252.957 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:32.957Z,1628981252.957 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:47:34.237Z,1628981254.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:34.573Z,1628981254.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:47:34.573Z,1628981254.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:47:34.573Z,1628981254.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:47:34.574Z,1628981254.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:47:34.986Z,1628981254.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:34.986Z,1628981254.986 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:47:34.986Z,1628981254.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:47:34.988Z,1628981254.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:47:35.413Z,1628981255.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:47:36.218Z,1628981256.218 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224736.12*5B

2021-08-14T22:47:37.053Z,1628981257.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:38.613Z,1628981258.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:38.613Z,1628981258.613 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:38.613Z,1628981258.613 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:47:39.853Z,1628981259.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:40.229Z,1628981260.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:47:40.229Z,1628981260.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:47:40.229Z,1628981260.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:47:40.230Z,1628981260.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:47:40.645Z,1628981260.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:40.645Z,1628981260.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:47:40.645Z,1628981260.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:47:40.647Z,1628981260.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:47:41.055Z,1628981261.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:47:41.866Z,1628981261.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224741.78*57

2021-08-14T22:47:42.691Z,1628981262.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:44.269Z,1628981264.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:44.269Z,1628981264.269 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:44.270Z,1628981264.270 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:47:45.519Z,1628981265.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:45.889Z,1628981265.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:47:45.889Z,1628981265.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:47:45.889Z,1628981265.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:47:45.890Z,1628981265.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:47:46.298Z,1628981266.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:46.298Z,1628981266.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:47:46.298Z,1628981266.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:47:46.301Z,1628981266.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:47:46.721Z,1628981266.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:47:47.538Z,1628981267.538 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224747.43*59

2021-08-14T22:47:48.373Z,1628981268.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:49.933Z,1628981269.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:49.933Z,1628981269.933 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:49.933Z,1628981269.933 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:47:51.167Z,1628981271.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:51.557Z,1628981271.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:47:51.557Z,1628981271.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:47:51.557Z,1628981271.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:47:51.558Z,1628981271.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:47:51.976Z,1628981271.976 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:51.977Z,1628981271.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:47:51.977Z,1628981271.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:47:51.992Z,1628981271.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:47:52.368Z,1628981272.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:47:53.178Z,1628981273.178 [Micromodem](INFO): Nmea in: $SNTTA,0.209485,,,,224753.12*44

2021-08-14T22:47:54.065Z,1628981274.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:55.589Z,1628981275.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:55.589Z,1628981275.589 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:55.590Z,1628981275.590 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:47:56.815Z,1628981276.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:47:57.209Z,1628981277.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:47:57.209Z,1628981277.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:47:57.210Z,1628981277.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:47:57.211Z,1628981277.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:47:57.609Z,1628981277.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,55,FF
2021-08-14T22:47:57.609Z,1628981277.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:47:57.609Z,1628981277.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:47:57.611Z,1628981277.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:47:58.061Z,1628981278.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:47:58.821Z,1628981278.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB4,000,016D8,189,80,80,3B,FF
2021-08-14T22:47:58.822Z,1628981278.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:47:59.269Z,1628981279.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 313.379974 m, bearing: 120.942392 deg, deltaT: 44.408790 s, approachRate: -0.248600 m/s, LOS rate: -3.895961 deg/s, posRepo size: 4
2021-08-14T22:47:59.271Z,1628981279.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.379974 m,
      bearing: 120.942392 deg,
      approachRate: -0.248600 m/s,
      LOS rate: -3.895961 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 113.457795 deg,
      new cmd heading: 115.205294 deg.

2021-08-14T22:48:01.682Z,1628981281.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:48:02.070Z,1628981282.070 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:48:02.070Z,1628981282.070 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:48:02.070Z,1628981282.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:48:02.071Z,1628981282.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:48:02.485Z,1628981282.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB4,000,016D8,189,80,80,3B,FF
2021-08-14T22:48:02.485Z,1628981282.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:48:02.485Z,1628981282.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:48:02.487Z,1628981282.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:48:02.877Z,1628981282.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:48:03.687Z,1628981283.687 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224803.62*55

2021-08-14T22:48:04.531Z,1628981284.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:48:06.093Z,1628981286.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,3B,FF
2021-08-14T22:48:06.093Z,1628981286.093 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,3B,FF
2021-08-14T22:48:06.093Z,1628981286.093 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:48:07.333Z,1628981287.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:48:07.709Z,1628981287.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:48:07.709Z,1628981287.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:48:07.709Z,1628981287.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:48:07.710Z,1628981287.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:48:08.113Z,1628981288.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,3B,FF
2021-08-14T22:48:08.113Z,1628981288.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:48:08.113Z,1628981288.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:48:08.115Z,1628981288.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:48:08.529Z,1628981288.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:48:09.358Z,1628981289.358 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224809.25*5C

2021-08-14T22:48:09.729Z,1628981289.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CC,000,0285D,189,80,80,2C,FF
2021-08-14T22:48:09.729Z,1628981289.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:48:10.203Z,1628981290.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 582.479980 m, bearing: 63.647801 deg, deltaT: 10.914098 s, approachRate: 24.656183 m/s, LOS rate: -5.249595 deg/s, posRepo size: 4
2021-08-14T22:48:10.209Z,1628981290.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 582.479980 m,
      bearing: 63.647801 deg,
      approachRate: 24.656183 m/s,
      LOS rate: -5.249595 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 342.433392 deg,
      new cmd heading: 337.078596 deg.

2021-08-14T22:48:12.611Z,1628981292.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:48:12.965Z,1628981292.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:48:12.965Z,1628981292.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:48:12.965Z,1628981292.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:48:12.966Z,1628981292.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:48:13.369Z,1628981293.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CC,000,0285D,189,80,80,2C,FF
2021-08-14T22:48:13.369Z,1628981293.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:48:13.369Z,1628981293.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:48:13.371Z,1628981293.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:48:13.772Z,1628981293.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:48:14.606Z,1628981294.606 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224814.50*52

2021-08-14T22:48:15.445Z,1628981295.445 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:48:15.482Z,1628981295.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:48:17.009Z,1628981297.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,2C,FF
2021-08-14T22:48:17.009Z,1628981297.009 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,2C,FF
2021-08-14T22:48:17.009Z,1628981297.009 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:48:18.285Z,1628981298.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:48:18.625Z,1628981298.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:48:18.625Z,1628981298.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:48:18.625Z,1628981298.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:48:18.626Z,1628981298.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:48:19.033Z,1628981299.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,2C,FF
2021-08-14T22:48:19.033Z,1628981299.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:48:19.033Z,1628981299.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:48:19.035Z,1628981299.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:48:19.448Z,1628981299.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:48:20.270Z,1628981300.270 [Micromodem](INFO): Nmea in: $SNTTA,0.222737,,,,224820.17*49

2021-08-14T22:48:21.053Z,1628981301.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AA,000,0395B,189,80,80,80,FF
2021-08-14T22:48:21.053Z,1628981301.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:48:21.513Z,1628981301.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 843.480103 m, bearing: 21.499482 deg, deltaT: 11.341991 s, approachRate: 23.011843 m/s, LOS rate: -3.716130 deg/s, posRepo size: 4
2021-08-14T22:48:21.515Z,1628981301.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 843.480103 m,
      bearing: 21.499482 deg,
      approachRate: 23.011843 m/s,
      LOS rate: -3.716130 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 206.332245 deg,
      new cmd heading: 201.359216 deg.

2021-08-14T22:48:23.907Z,1628981303.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:48:24.293Z,1628981304.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:48:24.294Z,1628981304.294 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:48:24.294Z,1628981304.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:48:24.295Z,1628981304.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:48:24.689Z,1628981304.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AA,000,0395B,189,80,80,80,FF
2021-08-14T22:48:24.689Z,1628981304.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:48:24.690Z,1628981304.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:48:24.691Z,1628981304.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:48:25.094Z,1628981305.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:48:25.490Z,1628981305.490 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:48:25.907Z,1628981305.907 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E5,000,017B8,189,80,80,61,FF
2021-08-14T22:48:25.907Z,1628981305.907 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:48:25.913Z,1628981305.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224825.82*5F

2021-08-14T22:48:26.386Z,1628981306.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 326.820007 m, bearing: 13.934612 deg, deltaT: 4.870301 s, approachRate: -106.083809 m/s, LOS rate: -1.553265 deg/s, posRepo size: 4
2021-08-14T22:48:26.395Z,1628981306.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 326.820007 m,
      bearing: 13.934612 deg,
      approachRate: -106.083809 m/s,
      LOS rate: -1.553265 deg/s,
      cmd update: -6.213062 deg/s,
      cmd heading: 148.325107 deg,
      new cmd heading: 142.880911 deg.

2021-08-14T22:48:28.769Z,1628981308.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:48:29.126Z,1628981309.126 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:48:29.126Z,1628981309.126 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:48:29.126Z,1628981309.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:48:29.127Z,1628981309.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:48:29.522Z,1628981309.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E5,000,017B8,189,80,80,61,FF
2021-08-14T22:48:29.522Z,1628981309.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:48:29.522Z,1628981309.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:48:29.551Z,1628981309.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:48:29.958Z,1628981309.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:48:30.757Z,1628981310.757 [Micromodem](INFO): Nmea in: $SNTTA,0.379113,,,,224830.68*4F

2021-08-14T22:48:30.771Z,1628981310.771 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:48:31.620Z,1628981311.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:48:31.958Z,1628981311.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,04938,186,80,80,75,FF
2021-08-14T22:48:31.959Z,1628981311.959 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:48:32.498Z,1628981312.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1087.140015 m, bearing: 44.582858 deg, deltaT: 6.072549 s, approachRate: 125.206070 m/s, LOS rate: 5.047015 deg/s, posRepo size: 4
2021-08-14T22:48:32.505Z,1628981312.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1087.140015 m,
      bearing: 44.582858 deg,
      approachRate: 125.206070 m/s,
      LOS rate: 5.047015 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 110.434913 deg,
      new cmd heading: 107.531972 deg.

2021-08-14T22:48:34.791Z,1628981314.791 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:48:34.835Z,1628981314.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:48:35.185Z,1628981315.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:48:35.185Z,1628981315.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:48:35.186Z,1628981315.186 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:48:35.187Z,1628981315.187 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:48:35.585Z,1628981315.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,04938,186,80,80,75,FF
2021-08-14T22:48:35.585Z,1628981315.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:48:35.586Z,1628981315.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:48:35.587Z,1628981315.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:48:35.637Z,1628981315.637 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:48:36.029Z,1628981316.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:48:36.809Z,1628981316.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0A,000,017FF,189,80,80,1F,FF
2021-08-14T22:48:36.809Z,1628981316.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:48:37.238Z,1628981317.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 331.079987 m, bearing: 123.198922 deg, deltaT: 4.818823 s, approachRate: -156.897247 m/s, LOS rate: 16.314371 deg/s, posRepo size: 4
2021-08-14T22:48:37.239Z,1628981317.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.314371 deg/s. Setting heading cmd to target bearing of 123.198922deg and heading rate command to 0 deg/s.
2021-08-14T22:48:39.657Z,1628981319.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:48:40.069Z,1628981320.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:48:40.069Z,1628981320.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:48:40.069Z,1628981320.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:48:40.070Z,1628981320.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:48:40.486Z,1628981320.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0A,000,017FF,189,80,80,1F,FF
2021-08-14T22:48:40.486Z,1628981320.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:48:40.486Z,1628981320.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:48:40.487Z,1628981320.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:48:40.509Z,1628981320.509 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:48:40.848Z,1628981320.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:48:41.647Z,1628981321.647 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F79,000,01833,187,80,80,38,FF
2021-08-14T22:48:41.648Z,1628981321.648 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:48:41.654Z,1628981321.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224841.62*53

2021-08-14T22:48:42.129Z,1628981322.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 334.199982 m, bearing: 113.952718 deg, deltaT: 4.886227 s, approachRate: 0.638528 m/s, LOS rate: -1.892299 deg/s, posRepo size: 4
2021-08-14T22:48:42.134Z,1628981322.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 334.199982 m,
      bearing: 113.952718 deg,
      approachRate: 0.638528 m/s,
      LOS rate: -1.892299 deg/s,
      cmd update: -7.569198 deg/s,
      cmd heading: 123.198922 deg,
      new cmd heading: 123.198922 deg.

2021-08-14T22:48:44.513Z,1628981324.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:48:44.877Z,1628981324.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:48:44.877Z,1628981324.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:48:44.877Z,1628981324.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:48:44.878Z,1628981324.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:48:45.285Z,1628981325.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F79,000,01833,187,80,80,38,FF
2021-08-14T22:48:45.285Z,1628981325.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:48:45.286Z,1628981325.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:48:45.287Z,1628981325.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:48:45.697Z,1628981325.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:48:45.715Z,1628981325.715 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:48:46.513Z,1628981326.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,01861,185,80,80,21,FF
2021-08-14T22:48:46.513Z,1628981326.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:48:46.540Z,1628981326.540 [Micromodem](INFO): Nmea in: $SNTTA,0.228360,,,,224846.42*45

2021-08-14T22:48:46.928Z,1628981326.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 336.959991 m, bearing: 124.652592 deg, deltaT: 4.831978 s, approachRate: 0.571197 m/s, LOS rate: 2.214388 deg/s, posRepo size: 4
2021-08-14T22:48:46.930Z,1628981326.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 336.959991 m,
      bearing: 124.652592 deg,
      approachRate: 0.571197 m/s,
      LOS rate: 2.214388 deg/s,
      cmd update: 8.857552 deg/s,
      cmd heading: 86.687513 deg,
      new cmd heading: 83.952572 deg.

2021-08-14T22:48:49.366Z,1628981329.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:48:49.725Z,1628981329.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:48:49.725Z,1628981329.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:48:49.725Z,1628981329.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:48:49.726Z,1628981329.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:48:50.153Z,1628981330.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,01861,185,80,80,21,FF
2021-08-14T22:48:50.153Z,1628981330.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:48:50.154Z,1628981330.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:48:50.155Z,1628981330.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:48:50.554Z,1628981330.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:48:50.573Z,1628981330.573 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:48:51.406Z,1628981331.406 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224851.29*5D

2021-08-14T22:48:52.205Z,1628981332.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:48:53.777Z,1628981333.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,185,80,80,21,FF
2021-08-14T22:48:53.778Z,1628981333.778 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,185,80,80,21,FF
2021-08-14T22:48:53.778Z,1628981333.778 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:48:55.018Z,1628981335.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:48:55.452Z,1628981335.452 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:48:55.453Z,1628981335.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:48:55.453Z,1628981335.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:48:55.454Z,1628981335.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:48:55.481Z,1628981335.481 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T22:48:55.801Z,1628981335.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,185,80,80,21,FF
2021-08-14T22:48:55.801Z,1628981335.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:48:55.802Z,1628981335.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:48:55.803Z,1628981335.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:48:56.209Z,1628981336.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:48:57.030Z,1628981337.030 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224856.94*5C

2021-08-14T22:48:57.855Z,1628981337.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:48:59.469Z,1628981339.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,185,80,80,21,FF
2021-08-14T22:48:59.469Z,1628981339.469 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,185,80,80,21,FF
2021-08-14T22:48:59.470Z,1628981339.470 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:49:00.654Z,1628981340.654 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T22:49:00.698Z,1628981340.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:49:01.053Z,1628981341.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:49:01.054Z,1628981341.054 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:49:01.054Z,1628981341.054 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:49:01.055Z,1628981341.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:49:01.477Z,1628981341.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,185,80,80,21,FF
2021-08-14T22:49:01.477Z,1628981341.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:49:01.477Z,1628981341.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:49:01.479Z,1628981341.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:49:01.860Z,1628981341.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:49:02.263Z,1628981342.263 [Micromodem](INFO): Nmea in: $SNTTA,0.192956,0.153644,,,224902.61*57

2021-08-14T22:49:02.665Z,1628981342.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,0190C,185,80,80,33,FF
2021-08-14T22:49:02.666Z,1628981342.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:49:03.108Z,1628981343.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 347.220001 m, bearing: 126.858551 deg, deltaT: 16.114713 s, approachRate: 0.636686 m/s, LOS rate: 0.136891 deg/s, posRepo size: 4
2021-08-14T22:49:03.110Z,1628981343.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.220001 m,
      bearing: 126.858551 deg,
      approachRate: 0.636686 m/s,
      LOS rate: 0.136891 deg/s,
      cmd update: 0.547564 deg/s,
      cmd heading: 229.535257 deg,
      new cmd heading: 233.203922 deg.

2021-08-14T22:49:05.515Z,1628981345.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:49:05.897Z,1628981345.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:49:05.897Z,1628981345.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:49:05.897Z,1628981345.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:49:05.898Z,1628981345.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:49:06.310Z,1628981346.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,0190C,185,80,80,33,FF
2021-08-14T22:49:06.310Z,1628981346.310 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:49:06.310Z,1628981346.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:49:06.313Z,1628981346.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:49:06.725Z,1628981346.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:49:07.617Z,1628981347.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,272,000,0193B,188,80,80,2D,FF
2021-08-14T22:49:07.618Z,1628981347.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:49:07.621Z,1628981347.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224907.45*55

2021-08-14T22:49:08.035Z,1628981348.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 350.039978 m, bearing: 116.415588 deg, deltaT: 5.005469 s, approachRate: 0.563379 m/s, LOS rate: -2.086311 deg/s, posRepo size: 4
2021-08-14T22:49:08.042Z,1628981348.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.039978 m,
      bearing: 116.415588 deg,
      approachRate: 0.563379 m/s,
      LOS rate: -2.086311 deg/s,
      cmd update: -8.345242 deg/s,
      cmd heading: 232.273804 deg,
      new cmd heading: 232.460242 deg.

2021-08-14T22:49:10.486Z,1628981350.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:49:10.773Z,1628981350.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:49:10.773Z,1628981350.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:49:10.774Z,1628981350.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:49:10.774Z,1628981350.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:49:11.169Z,1628981351.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
272,000,0193B,188,80,80,2D,FF
2021-08-14T22:49:11.169Z,1628981351.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:49:11.169Z,1628981351.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:49:11.171Z,1628981351.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:49:11.577Z,1628981351.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:49:12.445Z,1628981352.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,01950,187,80,80,31,FF
2021-08-14T22:49:12.445Z,1628981352.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:49:12.448Z,1628981352.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224912.31*52

2021-08-14T22:49:12.824Z,1628981352.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 351.299988 m, bearing: 174.576097 deg, deltaT: 4.839048 s, approachRate: 0.260384 m/s, LOS rate: 12.018999 deg/s, posRepo size: 4
2021-08-14T22:49:12.825Z,1628981352.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.018999 deg/s. Setting heading cmd to target bearing of 174.576097deg and heading rate command to 0 deg/s.
2021-08-14T22:49:15.227Z,1628981355.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:49:15.613Z,1628981355.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:49:15.613Z,1628981355.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:49:15.613Z,1628981355.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:49:15.614Z,1628981355.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:49:15.656Z,1628981355.656 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T22:49:16.053Z,1628981356.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,01950,187,80,80,31,FF
2021-08-14T22:49:16.053Z,1628981356.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:49:16.053Z,1628981356.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:49:16.055Z,1628981356.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:49:16.449Z,1628981356.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:49:17.235Z,1628981357.235 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,01969,189,80,80,59,FF
2021-08-14T22:49:17.241Z,1628981357.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:49:17.256Z,1628981357.256 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224917.19*5D

2021-08-14T22:49:17.670Z,1628981357.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 352.799988 m, bearing: 151.149696 deg, deltaT: 4.747832 s, approachRate: 0.315934 m/s, LOS rate: -4.934126 deg/s, posRepo size: 4
2021-08-14T22:49:17.672Z,1628981357.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.799988 m,
      bearing: 151.149696 deg,
      approachRate: 0.315934 m/s,
      LOS rate: -4.934126 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 174.576097 deg,
      new cmd heading: 174.576097 deg.

2021-08-14T22:49:20.107Z,1628981360.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:49:20.508Z,1628981360.508 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:49:20.509Z,1628981360.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:49:20.509Z,1628981360.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:49:20.510Z,1628981360.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:49:20.869Z,1628981360.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,01969,189,80,80,59,FF
2021-08-14T22:49:20.870Z,1628981360.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:49:20.870Z,1628981360.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:49:20.871Z,1628981360.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:49:21.293Z,1628981361.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:49:22.109Z,1628981362.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,174,000,0197D,186,80,80,4D,FF
2021-08-14T22:49:22.109Z,1628981362.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:49:22.137Z,1628981362.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224922.01*52

2021-08-14T22:49:22.526Z,1628981362.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 354.000000 m, bearing: 150.459614 deg, deltaT: 4.899257 s, approachRate: 0.244938 m/s, LOS rate: -0.140854 deg/s, posRepo size: 4
2021-08-14T22:49:22.544Z,1628981362.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.000000 m,
      bearing: 150.459614 deg,
      approachRate: 0.244938 m/s,
      LOS rate: -0.140854 deg/s,
      cmd update: -0.563417 deg/s,
      cmd heading: 115.679688 deg,
      new cmd heading: 111.591239 deg.

2021-08-14T22:49:24.927Z,1628981364.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:49:25.318Z,1628981365.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:49:25.318Z,1628981365.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:49:25.318Z,1628981365.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:49:25.319Z,1628981365.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:49:25.717Z,1628981365.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
174,000,0197D,186,80,80,4D,FF
2021-08-14T22:49:25.717Z,1628981365.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:49:25.717Z,1628981365.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:49:25.719Z,1628981365.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:49:26.133Z,1628981366.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:49:26.953Z,1628981366.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4A,000,0199C,189,80,80,4E,FF
2021-08-14T22:49:26.953Z,1628981366.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:49:26.956Z,1628981366.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224926.86*59

2021-08-14T22:49:27.371Z,1628981367.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 355.859985 m, bearing: 182.294238 deg, deltaT: 4.787605 s, approachRate: 0.388500 m/s, LOS rate: 6.649384 deg/s, posRepo size: 4
2021-08-14T22:49:27.377Z,1628981367.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 355.859985 m,
      bearing: 182.294238 deg,
      approachRate: 0.388500 m/s,
      LOS rate: 6.649384 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 112.982484 deg,
      new cmd heading: 112.757973 deg.

2021-08-14T22:49:29.792Z,1628981369.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:49:30.158Z,1628981370.158 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:49:30.159Z,1628981370.159 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:49:30.159Z,1628981370.159 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:49:30.160Z,1628981370.160 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:49:30.565Z,1628981370.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4A,000,0199C,189,80,80,4E,FF
2021-08-14T22:49:30.565Z,1628981370.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:49:30.565Z,1628981370.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:49:30.567Z,1628981370.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:49:30.648Z,1628981370.648 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T22:49:30.979Z,1628981370.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:49:31.805Z,1628981371.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,019C3,186,80,80,6F,FF
2021-08-14T22:49:31.806Z,1628981371.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:49:31.810Z,1628981371.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224931.70*56

2021-08-14T22:49:32.227Z,1628981372.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 358.199982 m, bearing: 138.842842 deg, deltaT: 4.897796 s, approachRate: 0.477765 m/s, LOS rate: -8.871623 deg/s, posRepo size: 4
2021-08-14T22:49:32.230Z,1628981372.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 358.199982 m,
      bearing: 138.842842 deg,
      approachRate: 0.477765 m/s,
      LOS rate: -8.871623 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 171.425726 deg,
      new cmd heading: 176.044466 deg.

2021-08-14T22:49:34.640Z,1628981374.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:49:35.001Z,1628981375.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:49:35.001Z,1628981375.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:49:35.001Z,1628981375.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:49:35.002Z,1628981375.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:49:35.421Z,1628981375.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,019C3,186,80,80,6F,FF
2021-08-14T22:49:35.421Z,1628981375.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:49:35.422Z,1628981375.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:49:35.430Z,1628981375.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:49:35.826Z,1628981375.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:49:36.219Z,1628981376.219 [Micromodem](INFO): Nmea in: $SNTTA,0.172904,0.172998,,,224936.57*51

2021-08-14T22:49:37.519Z,1628981377.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:49:39.045Z,1628981379.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,6F,FF
2021-08-14T22:49:39.045Z,1628981379.045 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,6F,FF
2021-08-14T22:49:39.045Z,1628981379.045 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:49:40.303Z,1628981380.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:49:40.673Z,1628981380.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:49:40.673Z,1628981380.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:49:40.673Z,1628981380.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:49:40.674Z,1628981380.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:49:41.065Z,1628981381.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,6F,FF
2021-08-14T22:49:41.065Z,1628981381.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:49:41.065Z,1628981381.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:49:41.067Z,1628981381.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:49:41.480Z,1628981381.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:49:42.309Z,1628981382.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,01A21,187,80,80,59,FF
2021-08-14T22:49:42.310Z,1628981382.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:49:42.314Z,1628981382.314 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224942.20*57

2021-08-14T22:49:42.733Z,1628981382.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 363.839996 m, bearing: 163.492080 deg, deltaT: 10.582284 s, approachRate: 0.532968 m/s, LOS rate: 2.329293 deg/s, posRepo size: 4
2021-08-14T22:49:42.735Z,1628981382.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 363.839996 m,
      bearing: 163.492080 deg,
      approachRate: 0.532968 m/s,
      LOS rate: 2.329293 deg/s,
      cmd update: 9.317171 deg/s,
      cmd heading: 44.205382 deg,
      new cmd heading: 40.742218 deg.

2021-08-14T22:49:45.134Z,1628981385.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:49:45.541Z,1628981385.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:49:45.541Z,1628981385.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:49:45.541Z,1628981385.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:49:45.542Z,1628981385.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:49:45.917Z,1628981385.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,01A21,187,80,80,59,FF
2021-08-14T22:49:45.917Z,1628981385.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:49:45.918Z,1628981385.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:49:45.919Z,1628981385.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:49:46.328Z,1628981386.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:49:47.141Z,1628981387.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,01A51,186,80,80,80,FF
2021-08-14T22:49:47.142Z,1628981387.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:49:47.145Z,1628981387.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224947.05*55

2021-08-14T22:49:47.602Z,1628981387.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 366.719971 m, bearing: 137.759656 deg, deltaT: 4.707478 s, approachRate: 0.611787 m/s, LOS rate: -5.466287 deg/s, posRepo size: 4
2021-08-14T22:49:47.611Z,1628981387.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 366.719971 m,
      bearing: 137.759656 deg,
      approachRate: 0.611787 m/s,
      LOS rate: -5.466287 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 88.146829 deg,
      new cmd heading: 92.260547 deg.

2021-08-14T22:49:50.037Z,1628981390.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:49:50.369Z,1628981390.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:49:50.369Z,1628981390.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:49:50.369Z,1628981390.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:49:50.370Z,1628981390.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:49:50.785Z,1628981390.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,01A51,186,80,80,80,FF
2021-08-14T22:49:50.785Z,1628981390.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:49:50.785Z,1628981390.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:49:50.787Z,1628981390.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:49:51.195Z,1628981391.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:49:52.008Z,1628981392.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224951.92*5C

2021-08-14T22:49:52.828Z,1628981392.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:49:53.193Z,1628981393.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,04C05,186,80,80,4D,FF
2021-08-14T22:49:53.193Z,1628981393.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:49:53.661Z,1628981393.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1130.160034 m, bearing: 88.960338 deg, deltaT: 6.050075 s, approachRate: 126.186874 m/s, LOS rate: -8.065903 deg/s, posRepo size: 4
2021-08-14T22:49:53.663Z,1628981393.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1130.160034 m,
      bearing: 88.960338 deg,
      approachRate: 126.186874 m/s,
      LOS rate: -8.065903 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 15.546060 deg,
      new cmd heading: 10.187135 deg.

2021-08-14T22:49:56.141Z,1628981396.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:49:56.433Z,1628981396.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:49:56.433Z,1628981396.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:49:56.433Z,1628981396.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:49:56.434Z,1628981396.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:49:56.821Z,1628981396.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18D,000,04C05,186,80,80,4D,FF
2021-08-14T22:49:56.821Z,1628981396.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:49:56.822Z,1628981396.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:49:56.823Z,1628981396.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:49:57.268Z,1628981397.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:49:58.081Z,1628981398.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01AC3,189,80,80,33,FF
2021-08-14T22:49:58.082Z,1628981398.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:49:58.085Z,1628981398.085 [Micromodem](INFO): Nmea in: $SNTTA,0.478709,0.478615,,,224957.96*52

2021-08-14T22:49:58.539Z,1628981398.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 373.559998 m, bearing: 22.477669 deg, deltaT: 4.953228 s, approachRate: -152.748886 m/s, LOS rate: -13.422090 deg/s, posRepo size: 4
2021-08-14T22:49:58.539Z,1628981398.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.422090 deg/s. Setting heading cmd to target bearing of 22.477669deg and heading rate command to 0 deg/s.
2021-08-14T22:50:00.884Z,1628981400.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:50:01.265Z,1628981401.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:50:01.265Z,1628981401.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:50:01.265Z,1628981401.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:50:01.266Z,1628981401.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:50:01.669Z,1628981401.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01AC3,189,80,80,33,FF
2021-08-14T22:50:01.669Z,1628981401.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:50:01.669Z,1628981401.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:50:01.671Z,1628981401.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:50:02.076Z,1628981402.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:50:02.901Z,1628981402.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,364,000,01AE6,188,80,80,79,FF
2021-08-14T22:50:02.901Z,1628981402.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:50:02.904Z,1628981402.904 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225002.81*50

2021-08-14T22:50:03.351Z,1628981403.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 375.660004 m, bearing: 25.481295 deg, deltaT: 4.776315 s, approachRate: 0.439671 m/s, LOS rate: 0.628858 deg/s, posRepo size: 4
2021-08-14T22:50:03.354Z,1628981403.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 375.660004 m,
      bearing: 25.481295 deg,
      approachRate: 0.439671 m/s,
      LOS rate: 0.628858 deg/s,
      cmd update: 2.515433 deg/s,
      cmd heading: 22.477669 deg,
      new cmd heading: 22.477669 deg.

2021-08-14T22:50:05.741Z,1628981405.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:50:06.121Z,1628981406.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:50:06.121Z,1628981406.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:50:06.121Z,1628981406.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:50:06.122Z,1628981406.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:50:06.521Z,1628981406.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
364,000,01AE6,188,80,80,79,FF
2021-08-14T22:50:06.521Z,1628981406.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:50:06.521Z,1628981406.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:50:06.523Z,1628981406.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:50:06.928Z,1628981406.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:50:07.757Z,1628981407.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,138,000,01B07,186,80,80,9F,FF
2021-08-14T22:50:07.757Z,1628981407.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:50:07.760Z,1628981407.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225007.66*5C

2021-08-14T22:50:08.190Z,1628981408.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 377.640015 m, bearing: 36.071988 deg, deltaT: 4.846886 s, approachRate: 0.408512 m/s, LOS rate: 2.185051 deg/s, posRepo size: 4
2021-08-14T22:50:08.193Z,1628981408.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 377.640015 m,
      bearing: 36.071988 deg,
      approachRate: 0.408512 m/s,
      LOS rate: 2.185051 deg/s,
      cmd update: 8.740204 deg/s,
      cmd heading: 34.719948 deg,
      new cmd heading: 35.735157 deg.

2021-08-14T22:50:10.729Z,1628981410.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:50:10.981Z,1628981410.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:50:10.981Z,1628981410.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:50:10.981Z,1628981410.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:50:10.982Z,1628981410.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:50:11.393Z,1628981411.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
138,000,01B07,186,80,80,9F,FF
2021-08-14T22:50:11.394Z,1628981411.394 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:50:11.394Z,1628981411.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:50:11.400Z,1628981411.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:50:11.796Z,1628981411.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:50:12.575Z,1628981412.575 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,488,000,01B16,189,80,80,64,FF
2021-08-14T22:50:12.576Z,1628981412.576 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:50:12.587Z,1628981412.587 [Micromodem](INFO): Nmea in: $SNTTA,0.433499,,,,225012.53*40

2021-08-14T22:50:13.010Z,1628981413.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 378.539978 m, bearing: 341.267233 deg, deltaT: 4.872665 s, approachRate: 0.184696 m/s, LOS rate: -11.247386 deg/s, posRepo size: 4
2021-08-14T22:50:13.013Z,1628981413.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 378.539978 m,
      bearing: 341.267233 deg,
      approachRate: 0.184696 m/s,
      LOS rate: -11.247386 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 77.271901 deg,
      new cmd heading: 80.373590 deg.

2021-08-14T22:50:15.469Z,1628981415.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:50:15.841Z,1628981415.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:50:15.841Z,1628981415.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:50:15.841Z,1628981415.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:50:15.842Z,1628981415.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:50:16.213Z,1628981416.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
488,000,01B16,189,80,80,64,FF
2021-08-14T22:50:16.213Z,1628981416.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:50:16.213Z,1628981416.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:50:16.215Z,1628981416.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:50:16.664Z,1628981416.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:50:17.481Z,1628981417.481 [Micromodem](INFO): Nmea in: $SNTTA,0.255461,,,,225017.35*44

2021-08-14T22:50:18.361Z,1628981418.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:50:19.496Z,1628981419.496 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,8000,01B16,189,80,80,64,FF
2021-08-14T22:50:19.497Z,1628981419.497 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,8000,01B16,189,80,80,64,FF
2021-08-14T22:50:19.497Z,1628981419.497 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:50:21.141Z,1628981421.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:50:21.513Z,1628981421.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:50:21.513Z,1628981421.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:50:21.513Z,1628981421.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:50:21.514Z,1628981421.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:50:21.913Z,1628981421.913 [DUSBL_Hydroid](INFO): DUSBL response received:,63,E4
!U1,P
,01B16,189,80,80,64,FF
2021-08-14T22:50:21.913Z,1628981421.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:50:21.913Z,1628981421.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:50:21.915Z,1628981421.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:50:22.327Z,1628981422.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:50:23.149Z,1628981423.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26C,000,01B55,188,80,80,68,FF
2021-08-14T22:50:23.150Z,1628981423.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:50:23.153Z,1628981423.153 [Micromodem](INFO): Nmea in: $SNTTA,0.256923,,,,225023.05*48

2021-08-14T22:50:23.571Z,1628981423.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 382.319977 m, bearing: 27.647115 deg, deltaT: 10.536552 s, approachRate: 0.358751 m/s, LOS rate: 4.401807 deg/s, posRepo size: 4
2021-08-14T22:50:23.573Z,1628981423.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 382.319977 m,
      bearing: 27.647115 deg,
      approachRate: 0.358751 m/s,
      LOS rate: 4.401807 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 311.120793 deg,
      new cmd heading: 306.289425 deg.

2021-08-14T22:50:26.040Z,1628981426.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:50:26.374Z,1628981426.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:50:26.375Z,1628981426.375 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:50:26.375Z,1628981426.375 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:50:26.377Z,1628981426.377 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:50:26.757Z,1628981426.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26C,000,01B55,188,80,80,68,FF
2021-08-14T22:50:26.757Z,1628981426.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:50:26.757Z,1628981426.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:50:26.759Z,1628981426.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:50:27.173Z,1628981427.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:50:28.017Z,1628981428.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,01B65,189,80,80,91,FF
2021-08-14T22:50:28.018Z,1628981428.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:50:28.025Z,1628981428.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225027.89*5F

2021-08-14T22:50:28.444Z,1628981428.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 383.279968 m, bearing: 12.056187 deg, deltaT: 4.912780 s, approachRate: 0.195407 m/s, LOS rate: -3.173545 deg/s, posRepo size: 4
2021-08-14T22:50:28.446Z,1628981428.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 383.279968 m,
      bearing: 12.056187 deg,
      approachRate: 0.195407 m/s,
      LOS rate: -3.173545 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 10.312643 deg,
      new cmd heading: 14.432399 deg.

2021-08-14T22:50:30.822Z,1628981430.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:50:31.209Z,1628981431.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:50:31.209Z,1628981431.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:50:31.209Z,1628981431.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:50:31.210Z,1628981431.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:50:31.609Z,1628981431.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,01B65,189,80,80,91,FF
2021-08-14T22:50:31.609Z,1628981431.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:50:31.609Z,1628981431.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:50:31.611Z,1628981431.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:50:32.050Z,1628981432.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:50:32.849Z,1628981432.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,440,000,01B77,189,80,80,57,FF
2021-08-14T22:50:32.849Z,1628981432.849 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:50:32.852Z,1628981432.852 [Micromodem](INFO): Nmea in: $SNTTA,0.258264,,,,225032.75*49

2021-08-14T22:50:33.252Z,1628981433.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 384.359985 m, bearing: 328.384294 deg, deltaT: 4.759017 s, approachRate: 0.226941 m/s, LOS rate: -9.176662 deg/s, posRepo size: 4
2021-08-14T22:50:33.254Z,1628981433.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 384.359985 m,
      bearing: 328.384294 deg,
      approachRate: 0.226941 m/s,
      LOS rate: -9.176662 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 313.104238 deg,
      new cmd heading: 308.497762 deg.

2021-08-14T22:50:35.673Z,1628981435.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:50:36.065Z,1628981436.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:50:36.065Z,1628981436.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:50:36.065Z,1628981436.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:50:36.066Z,1628981436.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:50:36.477Z,1628981436.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
440,000,01B77,189,80,80,57,FF
2021-08-14T22:50:36.477Z,1628981436.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:50:36.477Z,1628981436.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:50:36.479Z,1628981436.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:50:36.869Z,1628981436.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:50:37.769Z,1628981437.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01B65,189,80,80,83,FF
2021-08-14T22:50:37.769Z,1628981437.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:50:37.772Z,1628981437.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225037.61*58

2021-08-14T22:50:38.163Z,1628981438.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 383.279968 m, bearing: 300.438001 deg, deltaT: 4.994836 s, approachRate: -0.216227 m/s, LOS rate: -5.595037 deg/s, posRepo size: 4
2021-08-14T22:50:38.166Z,1628981438.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 383.279968 m,
      bearing: 300.438001 deg,
      approachRate: -0.216227 m/s,
      LOS rate: -5.595037 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 253.215692 deg,
      new cmd heading: 249.560852 deg.

2021-08-14T22:50:40.558Z,1628981440.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:50:40.910Z,1628981440.910 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:50:40.910Z,1628981440.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:50:40.910Z,1628981440.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:50:40.911Z,1628981440.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:50:41.302Z,1628981441.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01B65,189,80,80,83,FF
2021-08-14T22:50:41.302Z,1628981441.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:50:41.302Z,1628981441.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:50:41.305Z,1628981441.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:50:41.723Z,1628981441.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:50:42.549Z,1628981442.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01B4D,189,80,80,84,FF
2021-08-14T22:50:42.549Z,1628981442.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:50:42.553Z,1628981442.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225042.44*5D

2021-08-14T22:50:42.948Z,1628981442.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 381.839996 m, bearing: 281.966301 deg, deltaT: 4.715842 s, approachRate: -0.305348 m/s, LOS rate: -3.916947 deg/s, posRepo size: 4
2021-08-14T22:50:42.950Z,1628981442.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 381.839996 m,
      bearing: 281.966301 deg,
      approachRate: -0.305348 m/s,
      LOS rate: -3.916947 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 196.575727 deg,
      new cmd heading: 192.147343 deg.

2021-08-14T22:50:45.392Z,1628981445.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:50:45.748Z,1628981445.748 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:50:45.748Z,1628981445.748 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:50:45.748Z,1628981445.748 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:50:45.749Z,1628981445.749 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:50:46.153Z,1628981446.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01B4D,189,80,80,84,FF
2021-08-14T22:50:46.154Z,1628981446.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:50:46.154Z,1628981446.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:50:46.155Z,1628981446.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:50:46.563Z,1628981446.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:50:47.418Z,1628981447.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,330,000,01B24,189,80,80,79,FF
2021-08-14T22:50:47.422Z,1628981447.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:50:47.432Z,1628981447.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225047.29*53

2021-08-14T22:50:47.801Z,1628981447.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 379.380005 m, bearing: 287.764694 deg, deltaT: 4.929167 s, approachRate: -0.499068 m/s, LOS rate: 1.176344 deg/s, posRepo size: 4
2021-08-14T22:50:47.803Z,1628981447.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 379.380005 m,
      bearing: 287.764694 deg,
      approachRate: -0.499068 m/s,
      LOS rate: 1.176344 deg/s,
      cmd update: 4.705374 deg/s,
      cmd heading: 137.523233 deg,
      new cmd heading: 133.915853 deg.

2021-08-14T22:50:50.254Z,1628981450.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:50:50.599Z,1628981450.599 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:50:50.599Z,1628981450.599 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:50:50.599Z,1628981450.599 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:50:50.600Z,1628981450.600 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:50:51.062Z,1628981451.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
330,000,01B24,189,80,80,79,FF
2021-08-14T22:50:51.062Z,1628981451.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:50:51.062Z,1628981451.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:50:51.064Z,1628981451.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:50:51.447Z,1628981451.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:50:51.901Z,1628981451.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E5,000,007ED,186,80,80,7E,FF
2021-08-14T22:50:51.901Z,1628981451.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:50:52.266Z,1628981452.266 [Micromodem](INFO): Nmea in: $SNTTA,0.058292,0.398388,,,225052.20*5B

2021-08-14T22:50:52.366Z,1628981452.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.240005 m, bearing: 287.503098 deg, deltaT: 4.447031 s, approachRate: -66.367882 m/s, LOS rate: -0.058825 deg/s, posRepo size: 4
2021-08-14T22:50:52.373Z,1628981452.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.240005 m,
      bearing: 287.503098 deg,
      approachRate: -66.367882 m/s,
      LOS rate: -0.058825 deg/s,
      cmd update: -0.235300 deg/s,
      cmd heading: 158.452059 deg,
      new cmd heading: 160.420289 deg.

2021-08-14T22:50:54.691Z,1628981454.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:50:55.037Z,1628981455.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:50:55.037Z,1628981455.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:50:55.037Z,1628981455.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:50:55.038Z,1628981455.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:50:55.469Z,1628981455.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E5,000,007ED,186,80,80,7E,FF
2021-08-14T22:50:55.469Z,1628981455.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:50:55.470Z,1628981455.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:50:55.471Z,1628981455.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:50:55.857Z,1628981455.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:50:56.659Z,1628981456.659 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,01AC7,184,80,80,5C,FF
2021-08-14T22:50:56.660Z,1628981456.660 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:50:56.667Z,1628981456.667 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225056.61*5F

2021-08-14T22:50:57.104Z,1628981457.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 373.799988 m, bearing: 290.470815 deg, deltaT: 4.783152 s, approachRate: 60.537487 m/s, LOS rate: 0.620452 deg/s, posRepo size: 4
2021-08-14T22:50:57.106Z,1628981457.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 373.799988 m,
      bearing: 290.470815 deg,
      approachRate: 60.537487 m/s,
      LOS rate: 0.620452 deg/s,
      cmd update: 2.481809 deg/s,
      cmd heading: 157.324871 deg,
      new cmd heading: 157.239701 deg.

2021-08-14T22:50:59.522Z,1628981459.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:50:59.886Z,1628981459.886 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:50:59.886Z,1628981459.886 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:50:59.887Z,1628981459.887 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:50:59.888Z,1628981459.888 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:51:00.285Z,1628981460.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,01AC7,184,80,80,5C,FF
2021-08-14T22:51:00.285Z,1628981460.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:51:00.286Z,1628981460.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:51:00.287Z,1628981460.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:51:00.733Z,1628981460.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:51:01.541Z,1628981461.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,01A90,187,80,80,75,FF
2021-08-14T22:51:01.542Z,1628981461.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:51:01.545Z,1628981461.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225101.42*5D

2021-08-14T22:51:02.053Z,1628981462.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 370.500000 m, bearing: 289.572536 deg, deltaT: 4.834238 s, approachRate: -0.682628 m/s, LOS rate: -0.185816 deg/s, posRepo size: 4
2021-08-14T22:51:02.055Z,1628981462.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 370.500000 m,
      bearing: 289.572536 deg,
      approachRate: -0.682628 m/s,
      LOS rate: -0.185816 deg/s,
      cmd update: -0.743264 deg/s,
      cmd heading: 169.320413 deg,
      new cmd heading: 170.504621 deg.

2021-08-14T22:51:04.545Z,1628981464.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:51:04.777Z,1628981464.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:51:04.777Z,1628981464.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:51:04.777Z,1628981464.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:51:04.778Z,1628981464.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:51:05.243Z,1628981465.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,01A90,187,80,80,75,FF
2021-08-14T22:51:05.243Z,1628981465.243 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:51:05.244Z,1628981465.244 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:51:05.247Z,1628981465.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:51:05.645Z,1628981465.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:51:06.423Z,1628981466.423 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225106.38*57

2021-08-14T22:51:07.211Z,1628981467.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:51:08.801Z,1628981468.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,75,FF
2021-08-14T22:51:08.801Z,1628981468.801 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,75,FF
2021-08-14T22:51:08.802Z,1628981468.802 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:51:10.094Z,1628981470.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:51:10.433Z,1628981470.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:51:10.433Z,1628981470.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:51:10.433Z,1628981470.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:51:10.434Z,1628981470.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:51:10.821Z,1628981470.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,75,FF
2021-08-14T22:51:10.821Z,1628981470.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:51:10.821Z,1628981470.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:51:10.823Z,1628981470.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:51:11.238Z,1628981471.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:51:12.061Z,1628981472.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B2D,000,01A2B,189,80,80,77,FF
2021-08-14T22:51:12.062Z,1628981472.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:51:12.064Z,1628981472.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225111.96*55

2021-08-14T22:51:12.511Z,1628981472.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 364.440002 m, bearing: 293.571366 deg, deltaT: 10.596984 s, approachRate: -0.571861 m/s, LOS rate: 0.377355 deg/s, posRepo size: 4
2021-08-14T22:51:12.514Z,1628981472.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 364.440002 m,
      bearing: 293.571366 deg,
      approachRate: -0.571861 m/s,
      LOS rate: 0.377355 deg/s,
      cmd update: 1.509422 deg/s,
      cmd heading: 161.450518 deg,
      new cmd heading: 161.189103 deg.

2021-08-14T22:51:14.890Z,1628981474.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:51:15.280Z,1628981475.280 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:51:15.280Z,1628981475.280 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:51:15.280Z,1628981475.280 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:51:15.281Z,1628981475.281 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:51:15.681Z,1628981475.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B2D,000,01A2B,189,80,80,77,FF
2021-08-14T22:51:15.681Z,1628981475.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:51:15.681Z,1628981475.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:51:15.683Z,1628981475.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:51:16.113Z,1628981476.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:51:16.885Z,1628981476.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,01A16,186,80,80,2C,FF
2021-08-14T22:51:16.885Z,1628981476.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:51:17.341Z,1628981477.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 363.179993 m, bearing: 222.720721 deg, deltaT: 4.733187 s, approachRate: -0.266207 m/s, LOS rate: -14.968909 deg/s, posRepo size: 4
2021-08-14T22:51:17.342Z,1628981477.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.968909 deg/s. Setting heading cmd to target bearing of 222.720721deg and heading rate command to 0 deg/s.
2021-08-14T22:51:19.770Z,1628981479.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:51:20.125Z,1628981480.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:51:20.125Z,1628981480.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:51:20.126Z,1628981480.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:51:20.127Z,1628981480.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:51:20.517Z,1628981480.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,01A16,186,80,80,2C,FF
2021-08-14T22:51:20.517Z,1628981480.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:51:20.517Z,1628981480.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:51:20.519Z,1628981480.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:51:20.933Z,1628981480.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:51:21.756Z,1628981481.756 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,01A0C,186,80,80,8D,FF
2021-08-14T22:51:21.757Z,1628981481.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:51:21.759Z,1628981481.759 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225121.66*59

2021-08-14T22:51:22.193Z,1628981482.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 362.579987 m, bearing: 217.825565 deg, deltaT: 4.883581 s, approachRate: -0.122862 m/s, LOS rate: -1.002370 deg/s, posRepo size: 4
2021-08-14T22:51:22.198Z,1628981482.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 362.579987 m,
      bearing: 217.825565 deg,
      approachRate: -0.122862 m/s,
      LOS rate: -1.002370 deg/s,
      cmd update: -4.009480 deg/s,
      cmd heading: 222.720721 deg,
      new cmd heading: 222.720721 deg.

2021-08-14T22:51:24.604Z,1628981484.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:51:24.961Z,1628981484.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:51:24.961Z,1628981484.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:51:24.961Z,1628981484.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:51:24.962Z,1628981484.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:51:25.369Z,1628981485.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,01A0C,186,80,80,8D,FF
2021-08-14T22:51:25.369Z,1628981485.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:51:25.369Z,1628981485.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:51:25.373Z,1628981485.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:51:25.790Z,1628981485.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:51:26.605Z,1628981486.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E65,000,01A17,185,80,80,68,FF
2021-08-14T22:51:26.605Z,1628981486.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:51:26.608Z,1628981486.608 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225126.51*5A

2021-08-14T22:51:27.020Z,1628981487.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 363.239990 m, bearing: 217.445452 deg, deltaT: 4.902053 s, approachRate: 0.134638 m/s, LOS rate: -0.077542 deg/s, posRepo size: 4
2021-08-14T22:51:27.022Z,1628981487.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 363.239990 m,
      bearing: 217.445452 deg,
      approachRate: 0.134638 m/s,
      LOS rate: -0.077542 deg/s,
      cmd update: -0.310167 deg/s,
      cmd heading: 203.145488 deg,
      new cmd heading: 201.736460 deg.

2021-08-14T22:51:29.462Z,1628981489.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:51:29.817Z,1628981489.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:51:29.817Z,1628981489.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:51:29.817Z,1628981489.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:51:29.818Z,1628981489.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:51:30.217Z,1628981490.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E65,000,01A17,185,80,80,68,FF
2021-08-14T22:51:30.217Z,1628981490.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:51:30.217Z,1628981490.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:51:30.219Z,1628981490.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:51:30.625Z,1628981490.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:51:31.477Z,1628981491.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDC,000,01A09,189,80,80,90,FF
2021-08-14T22:51:31.477Z,1628981491.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:51:31.480Z,1628981491.480 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225131.35*5E

2021-08-14T22:51:31.874Z,1628981491.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 362.400024 m, bearing: 239.124240 deg, deltaT: 4.850573 s, approachRate: -0.173168 m/s, LOS rate: 4.469325 deg/s, posRepo size: 4
2021-08-14T22:51:31.876Z,1628981491.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 362.400024 m,
      bearing: 239.124240 deg,
      approachRate: -0.173168 m/s,
      LOS rate: 4.469325 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 201.635893 deg,
      new cmd heading: 201.530716 deg.

2021-08-14T22:51:34.294Z,1628981494.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:51:34.653Z,1628981494.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:51:34.653Z,1628981494.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:51:34.653Z,1628981494.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:51:34.654Z,1628981494.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:51:35.066Z,1628981495.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDC,000,01A09,189,80,80,90,FF
2021-08-14T22:51:35.066Z,1628981495.066 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:51:35.066Z,1628981495.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:51:35.067Z,1628981495.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:51:35.484Z,1628981495.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:51:36.302Z,1628981496.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01A00,188,80,80,87,FF
2021-08-14T22:51:36.302Z,1628981496.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:51:36.331Z,1628981496.331 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225136.20*5D

2021-08-14T22:51:36.723Z,1628981496.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 361.859985 m, bearing: 277.463348 deg, deltaT: 4.887202 s, approachRate: -0.110501 m/s, LOS rate: 7.844798 deg/s, posRepo size: 4
2021-08-14T22:51:36.745Z,1628981496.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 361.859985 m,
      bearing: 277.463348 deg,
      approachRate: -0.110501 m/s,
      LOS rate: 7.844798 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 260.323766 deg,
      new cmd heading: 263.888798 deg.

2021-08-14T22:51:39.119Z,1628981499.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:51:39.516Z,1628981499.516 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:51:39.516Z,1628981499.516 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:51:39.516Z,1628981499.516 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:51:39.517Z,1628981499.517 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:51:39.905Z,1628981499.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01A00,188,80,80,87,FF
2021-08-14T22:51:39.905Z,1628981499.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:51:39.905Z,1628981499.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:51:39.907Z,1628981499.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:51:40.319Z,1628981500.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:51:41.153Z,1628981501.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,019ED,18A,80,80,6B,FF
2021-08-14T22:51:41.153Z,1628981501.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:51:41.157Z,1628981501.157 [Micromodem](INFO): Nmea in: $SNTTA,0.299460,,,,225141.04*45

2021-08-14T22:51:41.562Z,1628981501.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 360.720001 m, bearing: 297.282945 deg, deltaT: 4.746185 s, approachRate: -0.240190 m/s, LOS rate: 4.175901 deg/s, posRepo size: 4
2021-08-14T22:51:41.564Z,1628981501.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 360.720001 m,
      bearing: 297.282945 deg,
      approachRate: -0.240190 m/s,
      LOS rate: 4.175901 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 317.277928 deg,
      new cmd heading: 321.958312 deg.

2021-08-14T22:51:44.027Z,1628981504.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:51:44.368Z,1628981504.368 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:51:44.369Z,1628981504.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:51:44.369Z,1628981504.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:51:44.370Z,1628981504.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:51:44.749Z,1628981504.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,019ED,18A,80,80,6B,FF
2021-08-14T22:51:44.749Z,1628981504.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:51:44.750Z,1628981504.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:51:44.751Z,1628981504.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:51:45.177Z,1628981505.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:51:46.145Z,1628981506.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D15,000,019CB,189,80,80,84,FF
2021-08-14T22:51:46.145Z,1628981506.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:51:46.148Z,1628981506.148 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225145.89*5A

2021-08-14T22:51:46.487Z,1628981506.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 358.680023 m, bearing: 291.685660 deg, deltaT: 5.052309 s, approachRate: -0.403771 m/s, LOS rate: -1.107867 deg/s, posRepo size: 4
2021-08-14T22:51:46.494Z,1628981506.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 358.680023 m,
      bearing: 291.685660 deg,
      approachRate: -0.403771 m/s,
      LOS rate: -1.107867 deg/s,
      cmd update: -4.431467 deg/s,
      cmd heading: 17.857914 deg,
      new cmd heading: 21.063018 deg.

2021-08-14T22:51:48.843Z,1628981508.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:51:49.237Z,1628981509.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:51:49.237Z,1628981509.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:51:49.237Z,1628981509.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:51:49.238Z,1628981509.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:51:49.637Z,1628981509.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D15,000,019CB,189,80,80,84,FF
2021-08-14T22:51:49.638Z,1628981509.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:51:49.638Z,1628981509.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:51:49.639Z,1628981509.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:51:50.077Z,1628981510.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:51:50.874Z,1628981510.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225150.78*50

2021-08-14T22:51:51.705Z,1628981511.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:51:52.073Z,1628981512.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED2,000,04B06,186,80,80,6B,FF
2021-08-14T22:51:52.073Z,1628981512.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:51:52.521Z,1628981512.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1114.859985 m, bearing: 293.430609 deg, deltaT: 5.927181 s, approachRate: 127.578346 m/s, LOS rate: 0.294398 deg/s, posRepo size: 4
2021-08-14T22:51:52.523Z,1628981512.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1114.859985 m,
      bearing: 293.430609 deg,
      approachRate: 127.578346 m/s,
      LOS rate: 0.294398 deg/s,
      cmd update: 1.177591 deg/s,
      cmd heading: 351.577371 deg,
      new cmd heading: 349.936745 deg.

2021-08-14T22:51:54.919Z,1628981514.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:51:55.285Z,1628981515.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:51:55.285Z,1628981515.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:51:55.285Z,1628981515.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:51:55.286Z,1628981515.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:51:55.687Z,1628981515.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED2,000,04B06,186,80,80,6B,FF
2021-08-14T22:51:55.687Z,1628981515.687 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:51:55.687Z,1628981515.687 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:51:55.689Z,1628981515.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:51:56.165Z,1628981516.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:51:56.960Z,1628981516.960 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E1,000,01964,186,80,80,65,FF
2021-08-14T22:51:56.960Z,1628981516.960 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:51:57.476Z,1628981517.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 352.499969 m, bearing: 290.196269 deg, deltaT: 4.854883 s, approachRate: -157.029526 m/s, LOS rate: -0.666204 deg/s, posRepo size: 4
2021-08-14T22:51:57.478Z,1628981517.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.499969 m,
      bearing: 290.196269 deg,
      approachRate: -157.029526 m/s,
      LOS rate: -0.666204 deg/s,
      cmd update: -2.664814 deg/s,
      cmd heading: 357.290380 deg,
      new cmd heading: 357.843081 deg.

2021-08-14T22:51:59.574Z,1628981519.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:51:59.846Z,1628981519.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:51:59.846Z,1628981519.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:51:59.846Z,1628981519.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:51:59.847Z,1628981519.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:52:00.217Z,1628981520.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E1,000,01964,186,80,80,65,FF
2021-08-14T22:52:00.217Z,1628981520.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:52:00.217Z,1628981520.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:52:00.219Z,1628981520.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:52:00.661Z,1628981520.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:52:01.433Z,1628981521.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D1,000,0192B,189,80,80,58,FF
2021-08-14T22:52:01.433Z,1628981521.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:52:01.441Z,1628981521.441 [Micromodem](INFO): Nmea in: $SNTTA,0.235215,,,,225201.35*42

2021-08-14T22:52:01.846Z,1628981521.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 349.079987 m, bearing: 285.723479 deg, deltaT: 4.500617 s, approachRate: -0.759892 m/s, LOS rate: -0.993817 deg/s, posRepo size: 4
2021-08-14T22:52:01.847Z,1628981521.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 349.079987 m,
      bearing: 285.723479 deg,
      approachRate: -0.759892 m/s,
      LOS rate: -0.993817 deg/s,
      cmd update: -3.975269 deg/s,
      cmd heading: 345.296751 deg,
      new cmd heading: 344.383690 deg.

2021-08-14T22:52:04.268Z,1628981524.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:52:04.630Z,1628981524.630 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:52:04.630Z,1628981524.630 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:52:04.630Z,1628981524.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:52:04.631Z,1628981524.631 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:52:05.041Z,1628981525.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D1,000,0192B,189,80,80,58,FF
2021-08-14T22:52:05.041Z,1628981525.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:52:05.042Z,1628981525.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:52:05.043Z,1628981525.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:52:05.475Z,1628981525.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:52:06.270Z,1628981526.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4A7,000,0190B,18A,80,80,68,FF
2021-08-14T22:52:06.270Z,1628981526.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:52:06.275Z,1628981526.275 [Micromodem](INFO): Nmea in: $SNTTA,0.233580,,,,225206.18*47

2021-08-14T22:52:06.688Z,1628981526.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 347.160004 m, bearing: 281.335792 deg, deltaT: 4.879536 s, approachRate: -0.393477 m/s, LOS rate: -0.899202 deg/s, posRepo size: 4
2021-08-14T22:52:06.690Z,1628981526.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.160004 m,
      bearing: 281.335792 deg,
      approachRate: -0.393477 m/s,
      LOS rate: -0.899202 deg/s,
      cmd update: -3.596806 deg/s,
      cmd heading: 325.899134 deg,
      new cmd heading: 324.684768 deg.

2021-08-14T22:52:09.100Z,1628981529.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:52:09.485Z,1628981529.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:52:09.485Z,1628981529.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:52:09.485Z,1628981529.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:52:09.486Z,1628981529.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:52:09.881Z,1628981529.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4A7,000,0190B,18A,80,80,68,FF
2021-08-14T22:52:09.881Z,1628981529.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:52:09.881Z,1628981529.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:52:09.883Z,1628981529.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:52:10.289Z,1628981530.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:52:11.117Z,1628981531.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4A2,000,018E0,189,80,80,6F,FF
2021-08-14T22:52:11.117Z,1628981531.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:52:11.123Z,1628981531.123 [Micromodem](INFO): Nmea in: $SNTTA,0.232148,,,,225211.02*4B

2021-08-14T22:52:11.543Z,1628981531.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 344.579987 m, bearing: 282.451955 deg, deltaT: 4.802957 s, approachRate: -0.537173 m/s, LOS rate: 0.232391 deg/s, posRepo size: 4
2021-08-14T22:52:11.545Z,1628981531.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.579987 m,
      bearing: 282.451955 deg,
      approachRate: -0.537173 m/s,
      LOS rate: 0.232391 deg/s,
      cmd update: 0.929562 deg/s,
      cmd heading: 308.733585 deg,
      new cmd heading: 307.339272 deg.

2021-08-14T22:52:14.031Z,1628981534.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:52:14.341Z,1628981534.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:52:14.341Z,1628981534.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:52:14.341Z,1628981534.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:52:14.342Z,1628981534.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:52:14.729Z,1628981534.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4A2,000,018E0,189,80,80,6F,FF
2021-08-14T22:52:14.729Z,1628981534.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:52:14.729Z,1628981534.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:52:14.731Z,1628981534.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:52:15.145Z,1628981535.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:52:15.997Z,1628981535.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225215.87*52

2021-08-14T22:52:16.781Z,1628981536.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:52:18.375Z,1628981538.375 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,189,80,80,6F,FF
2021-08-14T22:52:18.375Z,1628981538.375 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,189,80,80,6F,FF
2021-08-14T22:52:18.375Z,1628981538.375 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:52:19.610Z,1628981539.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:52:20.017Z,1628981540.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:52:20.017Z,1628981540.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:52:20.017Z,1628981540.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:52:20.018Z,1628981540.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:52:20.381Z,1628981540.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,189,80,80,6F,FF
2021-08-14T22:52:20.381Z,1628981540.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:52:20.382Z,1628981540.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:52:20.383Z,1628981540.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:52:20.792Z,1628981540.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:52:21.613Z,1628981541.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17A,000,01876,186,80,80,4B,FF
2021-08-14T22:52:21.614Z,1628981541.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:52:21.617Z,1628981541.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225221.52*5D

2021-08-14T22:52:22.105Z,1628981542.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 338.219971 m, bearing: 290.675202 deg, deltaT: 10.491785 s, approachRate: -0.606190 m/s, LOS rate: 0.783780 deg/s, posRepo size: 4
2021-08-14T22:52:22.107Z,1628981542.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 338.219971 m,
      bearing: 290.675202 deg,
      approachRate: -0.606190 m/s,
      LOS rate: 0.783780 deg/s,
      cmd update: 3.135119 deg/s,
      cmd heading: 318.509051 deg,
      new cmd heading: 318.912063 deg.

2021-08-14T22:52:24.490Z,1628981544.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:52:24.829Z,1628981544.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:52:24.829Z,1628981544.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:52:24.829Z,1628981544.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:52:24.830Z,1628981544.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:52:25.249Z,1628981545.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17A,000,01876,186,80,80,4B,FF
2021-08-14T22:52:25.249Z,1628981545.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:52:25.249Z,1628981545.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:52:25.251Z,1628981545.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:52:25.657Z,1628981545.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:52:26.594Z,1628981546.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,01841,189,80,80,5C,FF
2021-08-14T22:52:26.594Z,1628981546.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:52:26.599Z,1628981546.599 [Micromodem](INFO): Nmea in: $SNTTA,0.265743,,,,225226.39*48

2021-08-14T22:52:26.976Z,1628981546.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 335.039978 m, bearing: 286.589383 deg, deltaT: 4.986800 s, approachRate: -0.637682 m/s, LOS rate: -0.819327 deg/s, posRepo size: 4
2021-08-14T22:52:26.978Z,1628981546.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 335.039978 m,
      bearing: 286.589383 deg,
      approachRate: -0.637682 m/s,
      LOS rate: -0.819327 deg/s,
      cmd update: -3.277307 deg/s,
      cmd heading: 334.162337 deg,
      new cmd heading: 335.127167 deg.

2021-08-14T22:52:29.379Z,1628981549.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:52:29.733Z,1628981549.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:52:29.733Z,1628981549.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:52:29.733Z,1628981549.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:52:29.734Z,1628981549.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:52:30.138Z,1628981550.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,01841,189,80,80,5C,FF
2021-08-14T22:52:30.138Z,1628981550.138 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:52:30.138Z,1628981550.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:52:30.139Z,1628981550.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:52:30.540Z,1628981550.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:52:31.378Z,1628981551.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225231.28*51

2021-08-14T22:52:32.210Z,1628981552.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:52:33.765Z,1628981553.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,5C,FF
2021-08-14T22:52:33.766Z,1628981553.766 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,5C,FF
2021-08-14T22:52:33.766Z,1628981553.766 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:52:35.019Z,1628981555.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:52:35.391Z,1628981555.391 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:52:35.392Z,1628981555.392 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:52:35.393Z,1628981555.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:52:35.394Z,1628981555.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:52:35.814Z,1628981555.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,5C,FF
2021-08-14T22:52:35.814Z,1628981555.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:52:35.814Z,1628981555.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:52:35.816Z,1628981555.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:52:36.201Z,1628981556.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:52:36.602Z,1628981556.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,00B67,188,80,80,5C,FF
2021-08-14T22:52:36.602Z,1628981556.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:52:37.025Z,1628981557.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225236.95*50

2021-08-14T22:52:37.060Z,1628981557.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.639999 m, bearing: 288.313978 deg, deltaT: 10.013595 s, approachRate: -19.713198 m/s, LOS rate: 0.172225 deg/s, posRepo size: 4
2021-08-14T22:52:37.062Z,1628981557.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.639999 m,
      bearing: 288.313978 deg,
      approachRate: -19.713198 m/s,
      LOS rate: 0.172225 deg/s,
      cmd update: 0.688902 deg/s,
      cmd heading: 301.364014 deg,
      new cmd heading: 300.092212 deg.

2021-08-14T22:52:39.557Z,1628981559.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:52:39.857Z,1628981559.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:52:39.857Z,1628981559.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:52:39.857Z,1628981559.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:52:39.858Z,1628981559.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:52:40.322Z,1628981560.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,00B67,188,80,80,5C,FF
2021-08-14T22:52:40.322Z,1628981560.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:52:40.323Z,1628981560.323 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:52:40.325Z,1628981560.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:52:40.849Z,1628981560.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:52:41.621Z,1628981561.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C4,000,017A6,186,80,80,56,FF
2021-08-14T22:52:41.622Z,1628981561.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:52:41.625Z,1628981561.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225241.46*5E

2021-08-14T22:52:42.142Z,1628981562.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 325.739990 m, bearing: 291.077118 deg, deltaT: 5.000812 s, approachRate: 37.613888 m/s, LOS rate: 0.552538 deg/s, posRepo size: 4
2021-08-14T22:52:42.144Z,1628981562.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 325.739990 m,
      bearing: 291.077118 deg,
      approachRate: 37.613888 m/s,
      LOS rate: 0.552538 deg/s,
      cmd update: 2.210153 deg/s,
      cmd heading: 304.815877 deg,
      new cmd heading: 305.132620 deg.

2021-08-14T22:52:44.550Z,1628981564.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:52:44.841Z,1628981564.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:52:44.841Z,1628981564.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:52:44.841Z,1628981564.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:52:44.842Z,1628981564.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:52:45.241Z,1628981565.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C4,000,017A6,186,80,80,56,FF
2021-08-14T22:52:45.241Z,1628981565.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:52:45.242Z,1628981565.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:52:45.243Z,1628981565.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:52:45.681Z,1628981565.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:52:46.485Z,1628981566.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,0176C,186,80,80,68,FF
2021-08-14T22:52:46.486Z,1628981566.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:52:46.489Z,1628981566.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225246.38*50

2021-08-14T22:52:46.893Z,1628981566.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 322.259979 m, bearing: 290.529801 deg, deltaT: 4.873066 s, approachRate: -0.714132 m/s, LOS rate: -0.112315 deg/s, posRepo size: 4
2021-08-14T22:52:46.900Z,1628981566.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 322.259979 m,
      bearing: 290.529801 deg,
      approachRate: -0.714132 m/s,
      LOS rate: -0.112315 deg/s,
      cmd update: -0.449259 deg/s,
      cmd heading: 315.576893 deg,
      new cmd heading: 316.330860 deg.

2021-08-14T22:52:49.353Z,1628981569.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:52:49.689Z,1628981569.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:52:49.689Z,1628981569.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:52:49.689Z,1628981569.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:52:49.690Z,1628981569.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:52:50.097Z,1628981570.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,0176C,186,80,80,68,FF
2021-08-14T22:52:50.097Z,1628981570.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:52:50.097Z,1628981570.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:52:50.098Z,1628981570.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:52:50.500Z,1628981570.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:52:51.333Z,1628981571.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A9,000,00FC2,186,80,80,4D,FF
2021-08-14T22:52:51.334Z,1628981571.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:52:51.337Z,1628981571.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225251.23*5C

2021-08-14T22:52:51.746Z,1628981571.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.539978 m, bearing: 287.432556 deg, deltaT: 4.800026 s, approachRate: -24.524868 m/s, LOS rate: -0.645256 deg/s, posRepo size: 4
2021-08-14T22:52:51.764Z,1628981571.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.539978 m,
      bearing: 287.432556 deg,
      approachRate: -24.524868 m/s,
      LOS rate: -0.645256 deg/s,
      cmd update: -2.581023 deg/s,
      cmd heading: 313.418612 deg,
      new cmd heading: 313.243071 deg.

2021-08-14T22:52:54.198Z,1628981574.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:52:54.549Z,1628981574.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:52:54.549Z,1628981574.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:52:54.549Z,1628981574.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:52:54.550Z,1628981574.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:52:54.950Z,1628981574.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A9,000,00FC2,186,80,80,4D,FF
2021-08-14T22:52:54.951Z,1628981574.951 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:52:54.951Z,1628981574.951 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:52:54.953Z,1628981574.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:52:55.349Z,1628981575.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:52:56.165Z,1628981576.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BE,000,016EF,186,80,80,62,FF
2021-08-14T22:52:56.166Z,1628981576.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:52:56.169Z,1628981576.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225256.09*53

2021-08-14T22:52:56.601Z,1628981576.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 314.760010 m, bearing: 285.829237 deg, deltaT: 4.885369 s, approachRate: 22.561251 m/s, LOS rate: -0.328188 deg/s, posRepo size: 4
2021-08-14T22:52:56.603Z,1628981576.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 314.760010 m,
      bearing: 285.829237 deg,
      approachRate: 22.561251 m/s,
      LOS rate: -0.328188 deg/s,
      cmd update: -1.312751 deg/s,
      cmd heading: 300.820255 deg,
      new cmd heading: 299.879299 deg.

2021-08-14T22:52:59.003Z,1628981579.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:52:59.381Z,1628981579.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:52:59.381Z,1628981579.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:52:59.381Z,1628981579.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:52:59.382Z,1628981579.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:52:59.789Z,1628981579.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BE,000,016EF,186,80,80,62,FF
2021-08-14T22:52:59.789Z,1628981579.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:52:59.789Z,1628981579.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:52:59.791Z,1628981579.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:53:00.192Z,1628981580.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:53:01.026Z,1628981581.026 [Micromodem](INFO): Nmea in: $SNTTA,0.034749,,,,225300.93*41

2021-08-14T22:53:01.823Z,1628981581.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:53:03.465Z,1628981583.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,62,FF
2021-08-14T22:53:03.465Z,1628981583.465 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,62,FF
2021-08-14T22:53:03.465Z,1628981583.465 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:53:04.672Z,1628981584.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:53:05.045Z,1628981585.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:53:05.045Z,1628981585.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:53:05.045Z,1628981585.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:53:05.046Z,1628981585.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:53:05.469Z,1628981585.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,62,FF
2021-08-14T22:53:05.469Z,1628981585.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:53:05.469Z,1628981585.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:53:05.471Z,1628981585.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:53:05.848Z,1628981585.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:53:06.773Z,1628981586.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,01679,182,80,80,9A,FF
2021-08-14T22:53:06.773Z,1628981586.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:53:06.777Z,1628981586.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225306.61*59

2021-08-14T22:53:07.122Z,1628981587.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 307.679993 m, bearing: 288.824412 deg, deltaT: 10.594193 s, approachRate: -0.668292 m/s, LOS rate: 0.282719 deg/s, posRepo size: 4
2021-08-14T22:53:07.125Z,1628981587.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.679993 m,
      bearing: 288.824412 deg,
      approachRate: -0.668292 m/s,
      LOS rate: 0.282719 deg/s,
      cmd update: 1.130874 deg/s,
      cmd heading: 286.912330 deg,
      new cmd heading: 286.530020 deg.

2021-08-14T22:53:08.299Z,1628981588.299 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T22:53:09.518Z,1628981589.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:53:09.889Z,1628981589.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:53:09.889Z,1628981589.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:53:09.889Z,1628981589.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:53:09.890Z,1628981589.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:53:10.302Z,1628981590.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,01679,182,80,80,9A,FF
2021-08-14T22:53:10.302Z,1628981590.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:53:10.302Z,1628981590.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:53:10.305Z,1628981590.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:53:10.694Z,1628981590.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:53:11.537Z,1628981591.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,0163B,187,80,80,8F,FF
2021-08-14T22:53:11.537Z,1628981591.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:53:11.540Z,1628981591.540 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225311.44*58

2021-08-14T22:53:11.954Z,1628981591.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 303.959991 m, bearing: 288.214531 deg, deltaT: 4.759323 s, approachRate: -0.781624 m/s, LOS rate: -0.128145 deg/s, posRepo size: 4
2021-08-14T22:53:11.962Z,1628981591.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 303.959991 m,
      bearing: 288.214531 deg,
      approachRate: -0.781624 m/s,
      LOS rate: -0.128145 deg/s,
      cmd update: -0.512578 deg/s,
      cmd heading: 292.299150 deg,
      new cmd heading: 292.699671 deg.

2021-08-14T22:53:14.419Z,1628981594.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:53:14.740Z,1628981594.740 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:53:14.741Z,1628981594.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:53:14.741Z,1628981594.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:53:14.742Z,1628981594.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:53:15.141Z,1628981595.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,0163B,187,80,80,8F,FF
2021-08-14T22:53:15.141Z,1628981595.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:53:15.141Z,1628981595.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:53:15.143Z,1628981595.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:53:15.544Z,1628981595.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:53:16.387Z,1628981596.387 [Micromodem](INFO): Nmea in: $SNTTA,0.202931,,,,225316.28*40

2021-08-14T22:53:17.179Z,1628981597.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:53:18.781Z,1628981598.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,187,80,80,8F,FF
2021-08-14T22:53:18.782Z,1628981598.782 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,187,80,80,8F,FF
2021-08-14T22:53:18.782Z,1628981598.782 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:53:19.745Z,1628981599.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:53:20.073Z,1628981600.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:53:20.073Z,1628981600.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:53:20.073Z,1628981600.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:53:20.074Z,1628981600.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:53:20.434Z,1628981600.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,187,80,80,8F,FF
2021-08-14T22:53:20.434Z,1628981600.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:53:20.434Z,1628981600.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:53:20.436Z,1628981600.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:53:20.824Z,1628981600.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:53:21.611Z,1628981601.611 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,015C2,185,80,80,91,FF
2021-08-14T22:53:21.612Z,1628981601.612 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:53:21.623Z,1628981601.623 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225321.57*59

2021-08-14T22:53:22.137Z,1628981602.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 296.699982 m, bearing: 288.157485 deg, deltaT: 10.112311 s, approachRate: -0.717938 m/s, LOS rate: -0.005641 deg/s, posRepo size: 4
2021-08-14T22:53:22.139Z,1628981602.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 296.699982 m,
      bearing: 288.157485 deg,
      approachRate: -0.717938 m/s,
      LOS rate: -0.005641 deg/s,
      cmd update: -0.022565 deg/s,
      cmd heading: 287.117891 deg,
      new cmd heading: 286.897765 deg.

2021-08-14T22:53:24.509Z,1628981604.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:53:24.837Z,1628981604.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:53:24.837Z,1628981604.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:53:24.837Z,1628981604.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:53:24.838Z,1628981604.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:53:25.253Z,1628981605.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,015C2,185,80,80,91,FF
2021-08-14T22:53:25.253Z,1628981605.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:53:25.254Z,1628981605.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:53:25.255Z,1628981605.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:53:25.663Z,1628981605.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:53:26.071Z,1628981606.071 [Micromodem](INFO): Nmea in: $SNTTA,0.198003,0.262309,,,225326.39*59

2021-08-14T22:53:26.469Z,1628981606.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB2,000,01586,184,80,80,67,FF
2021-08-14T22:53:26.469Z,1628981606.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:53:26.911Z,1628981606.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 293.100006 m, bearing: 288.219530 deg, deltaT: 4.835057 s, approachRate: -0.744557 m/s, LOS rate: 0.012832 deg/s, posRepo size: 4
2021-08-14T22:53:26.914Z,1628981606.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 293.100006 m,
      bearing: 288.219530 deg,
      approachRate: -0.744557 m/s,
      LOS rate: 0.012832 deg/s,
      cmd update: 0.051330 deg/s,
      cmd heading: 287.008787 deg,
      new cmd heading: 287.000358 deg.

2021-08-14T22:53:29.332Z,1628981609.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:53:29.689Z,1628981609.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:53:29.689Z,1628981609.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:53:29.689Z,1628981609.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:53:29.690Z,1628981609.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:53:30.113Z,1628981610.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB2,000,01586,184,80,80,67,FF
2021-08-14T22:53:30.113Z,1628981610.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:53:30.113Z,1628981610.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:53:30.115Z,1628981610.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:53:30.522Z,1628981610.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:53:31.315Z,1628981611.315 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225331.25*5D

2021-08-14T22:53:32.158Z,1628981612.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:53:33.749Z,1628981613.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,184,80,80,67,FF
2021-08-14T22:53:33.750Z,1628981613.750 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,184,80,80,67,FF
2021-08-14T22:53:33.750Z,1628981613.750 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:53:34.997Z,1628981614.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:53:35.361Z,1628981615.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:53:35.361Z,1628981615.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:53:35.361Z,1628981615.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:53:35.362Z,1628981615.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:53:35.746Z,1628981615.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,184,80,80,67,FF
2021-08-14T22:53:35.746Z,1628981615.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:53:35.747Z,1628981615.747 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:53:35.749Z,1628981615.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:53:36.173Z,1628981616.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:53:36.989Z,1628981616.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,01506,186,80,80,84,FF
2021-08-14T22:53:36.989Z,1628981616.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:53:36.992Z,1628981616.992 [Micromodem](INFO): Nmea in: $SNTTA,0.055453,,,,225336.89*40

2021-08-14T22:53:37.464Z,1628981617.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 285.419983 m, bearing: 288.765426 deg, deltaT: 10.466333 s, approachRate: -0.733784 m/s, LOS rate: 0.052157 deg/s, posRepo size: 4
2021-08-14T22:53:37.466Z,1628981617.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 285.419983 m,
      bearing: 288.765426 deg,
      approachRate: -0.733784 m/s,
      LOS rate: 0.052157 deg/s,
      cmd update: 0.208629 deg/s,
      cmd heading: 287.546202 deg,
      new cmd heading: 287.568814 deg.

2021-08-14T22:53:39.863Z,1628981619.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:53:40.193Z,1628981620.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:53:40.193Z,1628981620.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:53:40.193Z,1628981620.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:53:40.194Z,1628981620.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:53:40.609Z,1628981620.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,01506,186,80,80,84,FF
2021-08-14T22:53:40.609Z,1628981620.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:53:40.609Z,1628981620.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:53:40.611Z,1628981620.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:53:41.009Z,1628981621.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:53:41.821Z,1628981621.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,014C9,187,80,80,75,FF
2021-08-14T22:53:41.821Z,1628981621.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:53:41.824Z,1628981621.824 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225341.75*5F

2021-08-14T22:53:42.287Z,1628981622.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.760010 m, bearing: 289.232884 deg, deltaT: 4.863686 s, approachRate: -0.752510 m/s, LOS rate: 0.096112 deg/s, posRepo size: 4
2021-08-14T22:53:42.289Z,1628981622.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.760010 m,
      bearing: 289.232884 deg,
      approachRate: -0.752510 m/s,
      LOS rate: 0.096112 deg/s,
      cmd update: 0.384448 deg/s,
      cmd heading: 288.560166 deg,
      new cmd heading: 288.647299 deg.

2021-08-14T22:53:44.661Z,1628981624.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:53:45.044Z,1628981625.044 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:53:45.045Z,1628981625.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:53:45.045Z,1628981625.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:53:45.046Z,1628981625.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:53:45.469Z,1628981625.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,014C9,187,80,80,75,FF
2021-08-14T22:53:45.469Z,1628981625.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:53:45.469Z,1628981625.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:53:45.471Z,1628981625.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:53:45.916Z,1628981625.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:53:46.698Z,1628981626.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,0148C,184,80,80,7D,FF
2021-08-14T22:53:46.699Z,1628981626.699 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:53:46.702Z,1628981626.702 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225346.61*5D

2021-08-14T22:53:47.116Z,1628981627.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 278.100006 m, bearing: 288.958338 deg, deltaT: 4.887765 s, approachRate: -0.748809 m/s, LOS rate: -0.056170 deg/s, posRepo size: 4
2021-08-14T22:53:47.118Z,1628981627.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 278.100006 m,
      bearing: 288.958338 deg,
      approachRate: -0.748809 m/s,
      LOS rate: -0.056170 deg/s,
      cmd update: -0.224680 deg/s,
      cmd heading: 290.439255 deg,
      new cmd heading: 290.577708 deg.

2021-08-14T22:53:49.546Z,1628981629.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:53:49.893Z,1628981629.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:53:49.893Z,1628981629.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:53:49.894Z,1628981629.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:53:49.895Z,1628981629.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:53:50.294Z,1628981630.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,0148C,184,80,80,7D,FF
2021-08-14T22:53:50.294Z,1628981630.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:53:50.295Z,1628981630.295 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:53:50.297Z,1628981630.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:53:50.777Z,1628981630.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:53:51.570Z,1628981631.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225351.44*5C

2021-08-14T22:53:52.076Z,1628981632.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:53:53.602Z,1628981633.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,7D,FF
2021-08-14T22:53:53.602Z,1628981633.602 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,7D,FF
2021-08-14T22:53:53.602Z,1628981633.602 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:53:54.832Z,1628981634.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:53:55.218Z,1628981635.218 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:53:55.218Z,1628981635.218 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:53:55.218Z,1628981635.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:53:55.219Z,1628981635.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:53:55.618Z,1628981635.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,7D,FF
2021-08-14T22:53:55.618Z,1628981635.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:53:55.618Z,1628981635.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:53:55.620Z,1628981635.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:53:56.065Z,1628981636.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:53:56.464Z,1628981636.464 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-14T22:53:56.464Z,1628981636.464 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-14T22:53:56.464Z,1628981636.464 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-14T22:53:56.612Z,1628981636.612 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-14T22:53:56.834Z,1628981636.834 [Micromodem](INFO): Nmea in: $SNTTA,0.077035,,,,225356.76*42

2021-08-14T22:53:56.909Z,1628981636.909 [RDI_PathfinderUp](INFO): Powering down
2021-08-14T22:53:57.671Z,1628981637.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:53:57.788Z,1628981637.788 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-14T22:53:57.788Z,1628981637.788 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-14T22:53:59.327Z,1628981639.327 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,7D,FF
2021-08-14T22:53:59.327Z,1628981639.327 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,7D,FF
2021-08-14T22:53:59.328Z,1628981639.328 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T22:54:00.183Z,1628981640.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:54:00.481Z,1628981640.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:54:00.481Z,1628981640.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:54:00.481Z,1628981640.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:54:00.482Z,1628981640.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:54:00.869Z,1628981640.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,7D,FF
2021-08-14T22:54:00.870Z,1628981640.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:54:00.870Z,1628981640.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:54:00.871Z,1628981640.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:54:01.268Z,1628981641.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:54:02.101Z,1628981642.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,013C3,187,80,80,66,FF
2021-08-14T22:54:02.101Z,1628981642.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:54:02.104Z,1628981642.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225402.01*5C

2021-08-14T22:54:02.516Z,1628981642.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.040009 m, bearing: 292.462826 deg, deltaT: 15.427446 s, approachRate: -0.781724 m/s, LOS rate: 0.227159 deg/s, posRepo size: 4
2021-08-14T22:54:02.518Z,1628981642.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 266.040009 m,
      bearing: 292.462826 deg,
      approachRate: -0.781724 m/s,
      LOS rate: 0.227159 deg/s,
      cmd update: 0.908637 deg/s,
      cmd heading: 286.973066 deg,
      new cmd heading: 286.898269 deg.

2021-08-14T22:54:04.918Z,1628981644.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:54:05.305Z,1628981645.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:54:05.306Z,1628981645.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:54:05.306Z,1628981645.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:54:05.307Z,1628981645.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:54:05.737Z,1628981645.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,013C3,187,80,80,66,FF
2021-08-14T22:54:05.737Z,1628981645.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:54:05.737Z,1628981645.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:54:05.739Z,1628981645.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:54:06.125Z,1628981646.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:54:06.921Z,1628981646.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,01389,186,80,80,77,FF
2021-08-14T22:54:06.921Z,1628981646.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:54:07.367Z,1628981647.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.559998 m, bearing: 292.772043 deg, deltaT: 4.779583 s, approachRate: -0.728099 m/s, LOS rate: 0.064695 deg/s, posRepo size: 4
2021-08-14T22:54:07.369Z,1628981647.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.559998 m,
      bearing: 292.772043 deg,
      approachRate: -0.728099 m/s,
      LOS rate: 0.064695 deg/s,
      cmd update: 0.258781 deg/s,
      cmd heading: 291.316047 deg,
      new cmd heading: 291.683367 deg.

2021-08-14T22:54:09.771Z,1628981649.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:54:10.153Z,1628981650.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:54:10.153Z,1628981650.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:54:10.153Z,1628981650.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:54:10.154Z,1628981650.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:54:10.561Z,1628981650.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,01389,186,80,80,77,FF
2021-08-14T22:54:10.561Z,1628981650.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:54:10.561Z,1628981650.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:54:10.563Z,1628981650.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:54:10.973Z,1628981650.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:54:11.796Z,1628981651.796 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,01350,186,80,80,7C,FF
2021-08-14T22:54:11.797Z,1628981651.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:54:11.799Z,1628981651.799 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225411.70*58

2021-08-14T22:54:12.253Z,1628981652.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 259.139984 m, bearing: 292.567274 deg, deltaT: 4.853145 s, approachRate: -0.704700 m/s, LOS rate: -0.042193 deg/s, posRepo size: 4
2021-08-14T22:54:12.255Z,1628981652.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.139984 m,
      bearing: 292.567274 deg,
      approachRate: -0.704700 m/s,
      LOS rate: -0.042193 deg/s,
      cmd update: -0.168772 deg/s,
      cmd heading: 292.573003 deg,
      new cmd heading: 292.685061 deg.

2021-08-14T22:54:14.638Z,1628981654.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:54:15.005Z,1628981655.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:54:15.005Z,1628981655.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:54:15.005Z,1628981655.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:54:15.006Z,1628981655.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:54:15.410Z,1628981655.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,01350,186,80,80,7C,FF
2021-08-14T22:54:15.410Z,1628981655.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:54:15.410Z,1628981655.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:54:15.412Z,1628981655.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:54:15.809Z,1628981655.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:54:16.645Z,1628981656.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,01314,184,80,80,9E,FF
2021-08-14T22:54:16.645Z,1628981656.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:54:16.649Z,1628981656.649 [Micromodem](INFO): Nmea in: $SNTTA,0.172470,,,,225416.55*41

2021-08-14T22:54:17.056Z,1628981657.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.539993 m, bearing: 292.616041 deg, deltaT: 4.879822 s, approachRate: -0.737730 m/s, LOS rate: 0.009994 deg/s, posRepo size: 4
2021-08-14T22:54:17.058Z,1628981657.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.539993 m,
      bearing: 292.616041 deg,
      approachRate: -0.737730 m/s,
      LOS rate: 0.009994 deg/s,
      cmd update: 0.039975 deg/s,
      cmd heading: 291.755324 deg,
      new cmd heading: 291.689301 deg.

2021-08-14T22:54:19.494Z,1628981659.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:54:19.849Z,1628981659.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:54:19.849Z,1628981659.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:54:19.849Z,1628981659.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:54:19.850Z,1628981659.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:54:20.265Z,1628981660.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,01314,184,80,80,9E,FF
2021-08-14T22:54:20.265Z,1628981660.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:54:20.265Z,1628981660.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:54:20.267Z,1628981660.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:54:20.665Z,1628981660.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:54:21.061Z,1628981661.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00905,183,80,80,82,FF
2021-08-14T22:54:21.062Z,1628981661.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:54:21.513Z,1628981661.513 [Micromodem](INFO): Nmea in: $SNTTA,0.183239,,,,225421.41*45

2021-08-14T22:54:21.553Z,1628981661.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.040001 m, bearing: 291.858518 deg, deltaT: 4.378948 s, approachRate: -35.282448 m/s, LOS rate: -0.172992 deg/s, posRepo size: 4
2021-08-14T22:54:21.555Z,1628981661.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.040001 m,
      bearing: 291.858518 deg,
      approachRate: -35.282448 m/s,
      LOS rate: -0.172992 deg/s,
      cmd update: -0.691968 deg/s,
      cmd heading: 291.931774 deg,
      new cmd heading: 291.950720 deg.

2021-08-14T22:54:22.314Z,1628981662.314 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T22:54:23.911Z,1628981663.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:54:24.302Z,1628981664.302 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:54:24.302Z,1628981664.302 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:54:24.302Z,1628981664.302 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:54:24.303Z,1628981664.303 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:54:24.701Z,1628981664.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00905,183,80,80,82,FF
2021-08-14T22:54:24.701Z,1628981664.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:54:24.702Z,1628981664.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:54:24.703Z,1628981664.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:54:25.105Z,1628981665.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:54:25.513Z,1628981665.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,00705,184,80,80,A2,FF
2021-08-14T22:54:25.514Z,1628981665.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:54:26.061Z,1628981666.061 [Micromodem](INFO): Nmea in: $SNTTA,0.049460,,,,225425.84*45

2021-08-14T22:54:26.114Z,1628981666.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.320000 m, bearing: 293.006919 deg, deltaT: 4.481263 s, approachRate: -6.855210 m/s, LOS rate: 0.256267 deg/s, posRepo size: 4
2021-08-14T22:54:26.121Z,1628981666.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.320000 m,
      bearing: 293.006919 deg,
      approachRate: -6.855210 m/s,
      LOS rate: 0.256267 deg/s,
      cmd update: 1.025069 deg/s,
      cmd heading: 288.830947 deg,
      new cmd heading: 288.447015 deg.

2021-08-14T22:54:27.228Z,1628981667.228 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T22:54:28.433Z,1628981668.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:54:28.742Z,1628981668.742 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:54:28.742Z,1628981668.742 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:54:28.742Z,1628981668.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:54:28.743Z,1628981668.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:54:29.141Z,1628981669.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,00705,184,80,80,A2,FF
2021-08-14T22:54:29.141Z,1628981669.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:54:29.141Z,1628981669.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:54:29.143Z,1628981669.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:54:29.557Z,1628981669.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:54:30.371Z,1628981670.371 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,0126F,187,80,80,87,FF
2021-08-14T22:54:30.373Z,1628981670.373 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:54:30.378Z,1628981670.378 [Micromodem](INFO): Nmea in: $SNTTA,0.163534,0.355999,,,225430.29*5B

2021-08-14T22:54:30.801Z,1628981670.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.639984 m, bearing: 293.203875 deg, deltaT: 4.899456 s, approachRate: 35.783562 m/s, LOS rate: 0.040199 deg/s, posRepo size: 4
2021-08-14T22:54:30.803Z,1628981670.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.639984 m,
      bearing: 293.203875 deg,
      approachRate: 35.783562 m/s,
      LOS rate: 0.040199 deg/s,
      cmd update: 0.160798 deg/s,
      cmd heading: 293.853295 deg,
      new cmd heading: 294.199191 deg.

2021-08-14T22:54:33.230Z,1628981673.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:54:33.597Z,1628981673.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:54:33.597Z,1628981673.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:54:33.597Z,1628981673.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:54:33.598Z,1628981673.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:54:34.029Z,1628981674.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,0126F,187,80,80,87,FF
2021-08-14T22:54:34.029Z,1628981674.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:54:34.029Z,1628981674.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:54:34.031Z,1628981674.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:54:34.413Z,1628981674.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:54:35.245Z,1628981675.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,01232,184,80,80,92,FF
2021-08-14T22:54:35.245Z,1628981675.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:54:35.248Z,1628981675.248 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225435.17*5F

2021-08-14T22:54:35.644Z,1628981675.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.979996 m, bearing: 292.427446 deg, deltaT: 4.869809 s, approachRate: -0.751567 m/s, LOS rate: -0.159437 deg/s, posRepo size: 4
2021-08-14T22:54:35.646Z,1628981675.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.979996 m,
      bearing: 292.427446 deg,
      approachRate: -0.751567 m/s,
      LOS rate: -0.159437 deg/s,
      cmd update: -0.637749 deg/s,
      cmd heading: 294.634614 deg,
      new cmd heading: 294.686953 deg.

2021-08-14T22:54:38.103Z,1628981678.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:54:38.445Z,1628981678.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:54:38.445Z,1628981678.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:54:38.445Z,1628981678.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:54:38.446Z,1628981678.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:54:38.841Z,1628981678.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,01232,184,80,80,92,FF
2021-08-14T22:54:38.841Z,1628981678.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:54:38.841Z,1628981678.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:54:38.843Z,1628981678.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:54:39.340Z,1628981679.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:54:40.097Z,1628981680.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,011FA,184,80,80,6B,FF
2021-08-14T22:54:40.097Z,1628981680.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:54:40.100Z,1628981680.100 [Micromodem](INFO): Nmea in: $SNTTA,0.161068,,,,225439.98*42

2021-08-14T22:54:40.508Z,1628981680.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.619995 m, bearing: 293.551750 deg, deltaT: 4.806924 s, approachRate: -0.698992 m/s, LOS rate: 0.233893 deg/s, posRepo size: 4
2021-08-14T22:54:40.510Z,1628981680.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.619995 m,
      bearing: 293.551750 deg,
      approachRate: -0.698992 m/s,
      LOS rate: 0.233893 deg/s,
      cmd update: 0.935570 deg/s,
      cmd heading: 291.562119 deg,
      new cmd heading: 291.324790 deg.

2021-08-14T22:54:42.914Z,1628981682.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:54:43.281Z,1628981683.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:54:43.281Z,1628981683.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:54:43.282Z,1628981683.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:54:43.282Z,1628981683.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:54:43.689Z,1628981683.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,011FA,184,80,80,6B,FF
2021-08-14T22:54:43.689Z,1628981683.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:54:43.689Z,1628981683.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:54:43.691Z,1628981683.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:54:44.114Z,1628981684.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:54:44.947Z,1628981684.947 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,011BF,185,80,80,AA,FF
2021-08-14T22:54:44.947Z,1628981684.947 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:54:44.952Z,1628981684.952 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225444.83*54

2021-08-14T22:54:45.355Z,1628981685.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.080002 m, bearing: 293.341325 deg, deltaT: 4.831894 s, approachRate: -0.732631 m/s, LOS rate: -0.043549 deg/s, posRepo size: 4
2021-08-14T22:54:45.374Z,1628981685.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.080002 m,
      bearing: 293.341325 deg,
      approachRate: -0.732631 m/s,
      LOS rate: -0.043549 deg/s,
      cmd update: -0.174196 deg/s,
      cmd heading: 296.082729 deg,
      new cmd heading: 296.445133 deg.

2021-08-14T22:54:47.763Z,1628981687.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:54:48.150Z,1628981688.150 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:54:48.150Z,1628981688.150 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:54:48.150Z,1628981688.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:54:48.151Z,1628981688.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:54:48.558Z,1628981688.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,011BF,185,80,80,AA,FF
2021-08-14T22:54:48.558Z,1628981688.558 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:54:48.558Z,1628981688.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:54:48.560Z,1628981688.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:54:48.959Z,1628981688.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:54:49.786Z,1628981689.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,0117F,184,80,80,A8,FF
2021-08-14T22:54:49.786Z,1628981689.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:54:49.791Z,1628981689.791 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225449.70*55

2021-08-14T22:54:50.247Z,1628981690.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.239990 m, bearing: 293.245074 deg, deltaT: 4.892080 s, approachRate: -0.784945 m/s, LOS rate: -0.019675 deg/s, posRepo size: 4
2021-08-14T22:54:50.250Z,1628981690.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.239990 m,
      bearing: 293.245074 deg,
      approachRate: -0.784945 m/s,
      LOS rate: -0.019675 deg/s,
      cmd update: -0.078699 deg/s,
      cmd heading: 295.231288 deg,
      new cmd heading: 295.163062 deg.

2021-08-14T22:54:52.641Z,1628981692.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:54:53.069Z,1628981693.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:54:53.069Z,1628981693.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:54:53.070Z,1628981693.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:54:53.071Z,1628981693.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:54:53.409Z,1628981693.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,0117F,184,80,80,A8,FF
2021-08-14T22:54:53.409Z,1628981693.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:54:53.409Z,1628981693.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:54:53.411Z,1628981693.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:54:53.824Z,1628981693.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:54:54.318Z,1628981694.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,01144,183,80,80,88,FF
2021-08-14T22:54:54.319Z,1628981694.319 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:54:54.686Z,1628981694.686 [Micromodem](INFO): Nmea in: $SNTTA,0.154359,,,,225454.55*4F

2021-08-14T22:54:54.721Z,1628981694.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 227.699982 m, bearing: 292.418212 deg, deltaT: 4.561165 s, approachRate: -0.776119 m/s, LOS rate: -0.181283 deg/s, posRepo size: 4
2021-08-14T22:54:54.723Z,1628981694.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.699982 m,
      bearing: 292.418212 deg,
      approachRate: -0.776119 m/s,
      LOS rate: -0.181283 deg/s,
      cmd update: -0.725133 deg/s,
      cmd heading: 294.872669 deg,
      new cmd heading: 294.848807 deg.

2021-08-14T22:54:57.075Z,1628981697.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:54:57.441Z,1628981697.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:54:57.441Z,1628981697.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:54:57.441Z,1628981697.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:54:57.442Z,1628981697.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:54:57.845Z,1628981697.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,01144,183,80,80,88,FF
2021-08-14T22:54:57.845Z,1628981697.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:54:57.845Z,1628981697.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:54:57.847Z,1628981697.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:54:58.260Z,1628981698.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:54:59.089Z,1628981699.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE8,000,0110D,183,80,80,A1,FF
2021-08-14T22:54:59.089Z,1628981699.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:54:59.093Z,1628981699.093 [Micromodem](INFO): Nmea in: $SNTTA,0.152166,,,,225458.98*4A

2021-08-14T22:54:59.507Z,1628981699.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.399994 m, bearing: 292.915258 deg, deltaT: 4.722436 s, approachRate: -0.698789 m/s, LOS rate: 0.105252 deg/s, posRepo size: 4
2021-08-14T22:54:59.509Z,1628981699.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.399994 m,
      bearing: 292.915258 deg,
      approachRate: -0.698789 m/s,
      LOS rate: 0.105252 deg/s,
      cmd update: 0.421009 deg/s,
      cmd heading: 291.467722 deg,
      new cmd heading: 291.178690 deg.

2021-08-14T22:55:01.914Z,1628981701.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:55:02.301Z,1628981702.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:55:02.301Z,1628981702.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:55:02.301Z,1628981702.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:55:02.302Z,1628981702.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:55:02.693Z,1628981702.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE8,000,0110D,183,80,80,A1,FF
2021-08-14T22:55:02.693Z,1628981702.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:55:02.693Z,1628981702.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:55:02.695Z,1628981702.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:55:03.104Z,1628981703.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:55:03.947Z,1628981703.947 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,010CE,184,80,80,83,FF
2021-08-14T22:55:03.948Z,1628981703.948 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:55:03.958Z,1628981703.958 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225503.84*51

2021-08-14T22:55:04.381Z,1628981704.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.619980 m, bearing: 292.833924 deg, deltaT: 4.892491 s, approachRate: -0.772615 m/s, LOS rate: -0.016624 deg/s, posRepo size: 4
2021-08-14T22:55:04.383Z,1628981704.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.619980 m,
      bearing: 292.833924 deg,
      approachRate: -0.772615 m/s,
      LOS rate: -0.016624 deg/s,
      cmd update: -0.066497 deg/s,
      cmd heading: 293.540683 deg,
      new cmd heading: 293.687596 deg.

2021-08-14T22:55:06.823Z,1628981706.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:55:07.269Z,1628981707.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:55:07.269Z,1628981707.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:55:07.269Z,1628981707.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:55:07.270Z,1628981707.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:55:07.577Z,1628981707.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,010CE,184,80,80,83,FF
2021-08-14T22:55:07.577Z,1628981707.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:55:07.577Z,1628981707.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:55:07.579Z,1628981707.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:55:08.015Z,1628981708.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:55:08.753Z,1628981708.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,0108F,184,80,80,B3,FF
2021-08-14T22:55:08.753Z,1628981708.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:55:09.219Z,1628981709.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.839996 m, bearing: 292.991100 deg, deltaT: 4.762592 s, approachRate: -0.793682 m/s, LOS rate: 0.033002 deg/s, posRepo size: 4
2021-08-14T22:55:09.222Z,1628981709.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.839996 m,
      bearing: 292.991100 deg,
      approachRate: -0.793682 m/s,
      LOS rate: 0.033002 deg/s,
      cmd update: 0.132009 deg/s,
      cmd heading: 293.223983 deg,
      new cmd heading: 293.195735 deg.

2021-08-14T22:55:11.615Z,1628981711.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:55:12.025Z,1628981712.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:55:12.025Z,1628981712.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:55:12.025Z,1628981712.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:55:12.026Z,1628981712.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:55:12.389Z,1628981712.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,0108F,184,80,80,B3,FF
2021-08-14T22:55:12.389Z,1628981712.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:55:12.389Z,1628981712.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:55:12.391Z,1628981712.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:55:12.797Z,1628981712.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:55:13.625Z,1628981713.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,01056,184,80,80,BC,FF
2021-08-14T22:55:13.626Z,1628981713.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:55:13.629Z,1628981713.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225513.53*5A

2021-08-14T22:55:14.123Z,1628981714.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.419998 m, bearing: 293.085658 deg, deltaT: 4.877748 s, approachRate: -0.701143 m/s, LOS rate: 0.019385 deg/s, posRepo size: 4
2021-08-14T22:55:14.130Z,1628981714.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.419998 m,
      bearing: 293.085658 deg,
      approachRate: -0.701143 m/s,
      LOS rate: 0.019385 deg/s,
      cmd update: 0.077542 deg/s,
      cmd heading: 293.868419 deg,
      new cmd heading: 293.927442 deg.

2021-08-14T22:55:16.457Z,1628981716.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:55:16.841Z,1628981716.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:55:16.841Z,1628981716.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:55:16.842Z,1628981716.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:55:16.843Z,1628981716.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:55:17.257Z,1628981717.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,01056,184,80,80,BC,FF
2021-08-14T22:55:17.257Z,1628981717.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:55:17.257Z,1628981717.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:55:17.259Z,1628981717.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:55:17.645Z,1628981717.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:55:18.467Z,1628981718.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,0101B,185,80,80,A9,FF
2021-08-14T22:55:18.468Z,1628981718.468 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:55:18.471Z,1628981718.471 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225518.40*53

2021-08-14T22:55:18.896Z,1628981718.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.879990 m, bearing: 292.732673 deg, deltaT: 4.820844 s, approachRate: -0.734313 m/s, LOS rate: -0.073220 deg/s, posRepo size: 4
2021-08-14T22:55:18.898Z,1628981718.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.879990 m,
      bearing: 292.732673 deg,
      approachRate: -0.734313 m/s,
      LOS rate: -0.073220 deg/s,
      cmd update: -0.292882 deg/s,
      cmd heading: 294.242207 deg,
      new cmd heading: 294.273140 deg.

2021-08-14T22:55:21.374Z,1628981721.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:55:21.697Z,1628981721.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:55:21.697Z,1628981721.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:55:21.697Z,1628981721.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:55:21.698Z,1628981721.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:55:22.097Z,1628981722.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,0101B,185,80,80,A9,FF
2021-08-14T22:55:22.097Z,1628981722.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:55:22.097Z,1628981722.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:55:22.099Z,1628981722.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:55:22.505Z,1628981722.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:55:23.333Z,1628981723.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,00FE0,184,80,80,A6,FF
2021-08-14T22:55:23.333Z,1628981723.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:55:23.336Z,1628981723.336 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225523.24*59

2021-08-14T22:55:23.748Z,1628981723.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.339996 m, bearing: 292.658224 deg, deltaT: 4.901444 s, approachRate: -0.722235 m/s, LOS rate: -0.015189 deg/s, posRepo size: 4
2021-08-14T22:55:23.750Z,1628981723.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.339996 m,
      bearing: 292.658224 deg,
      approachRate: -0.722235 m/s,
      LOS rate: -0.015189 deg/s,
      cmd update: -0.060757 deg/s,
      cmd heading: 292.807724 deg,
      new cmd heading: 292.704316 deg.

2021-08-14T22:55:26.231Z,1628981726.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:55:26.541Z,1628981726.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:55:26.541Z,1628981726.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:55:26.541Z,1628981726.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:55:26.542Z,1628981726.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:55:26.941Z,1628981726.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,00FE0,184,80,80,A6,FF
2021-08-14T22:55:26.941Z,1628981726.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:55:26.941Z,1628981726.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:55:26.943Z,1628981726.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:55:27.357Z,1628981727.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:55:28.205Z,1628981728.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,00FA5,185,80,80,B1,FF
2021-08-14T22:55:28.206Z,1628981728.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:55:28.214Z,1628981728.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225528.08*5C

2021-08-14T22:55:28.592Z,1628981728.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.799988 m, bearing: 292.993723 deg, deltaT: 4.911579 s, approachRate: -0.720748 m/s, LOS rate: 0.068308 deg/s, posRepo size: 4
2021-08-14T22:55:28.594Z,1628981728.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.799988 m,
      bearing: 292.993723 deg,
      approachRate: -0.720748 m/s,
      LOS rate: 0.068308 deg/s,
      cmd update: 0.273231 deg/s,
      cmd heading: 292.510150 deg,
      new cmd heading: 292.491967 deg.

2021-08-14T22:55:31.028Z,1628981731.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:55:31.385Z,1628981731.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:55:31.385Z,1628981731.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:55:31.385Z,1628981731.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:55:31.386Z,1628981731.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:55:31.794Z,1628981731.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,00FA5,185,80,80,B1,FF
2021-08-14T22:55:31.794Z,1628981731.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:55:31.794Z,1628981731.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:55:31.796Z,1628981731.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:55:32.221Z,1628981732.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:55:33.033Z,1628981733.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,00F66,184,80,80,AD,FF
2021-08-14T22:55:33.033Z,1628981733.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:55:33.036Z,1628981733.036 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225532.94*52

2021-08-14T22:55:33.456Z,1628981733.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.020004 m, bearing: 292.276690 deg, deltaT: 4.766443 s, approachRate: -0.793041 m/s, LOS rate: -0.150434 deg/s, posRepo size: 4
2021-08-14T22:55:33.458Z,1628981733.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.020004 m,
      bearing: 292.276690 deg,
      approachRate: -0.793041 m/s,
      LOS rate: -0.150434 deg/s,
      cmd update: -0.601734 deg/s,
      cmd heading: 293.815065 deg,
      new cmd heading: 293.920971 deg.

2021-08-14T22:55:35.871Z,1628981735.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:55:36.258Z,1628981736.258 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:55:36.258Z,1628981736.258 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:55:36.258Z,1628981736.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:55:36.281Z,1628981736.281 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:55:36.633Z,1628981736.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,00F66,184,80,80,AD,FF
2021-08-14T22:55:36.633Z,1628981736.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:55:36.634Z,1628981736.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:55:36.635Z,1628981736.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:55:37.053Z,1628981737.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:55:37.877Z,1628981737.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,00F2D,184,80,80,B2,FF
2021-08-14T22:55:37.877Z,1628981737.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:55:37.880Z,1628981737.880 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225537.77*5A

2021-08-14T22:55:38.339Z,1628981738.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.599976 m, bearing: 292.453237 deg, deltaT: 4.824303 s, approachRate: -0.708917 m/s, LOS rate: 0.036595 deg/s, posRepo size: 4
2021-08-14T22:55:38.354Z,1628981738.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.599976 m,
      bearing: 292.453237 deg,
      approachRate: -0.708917 m/s,
      LOS rate: 0.036595 deg/s,
      cmd update: 0.146381 deg/s,
      cmd heading: 290.907225 deg,
      new cmd heading: 290.643329 deg.

2021-08-14T22:55:40.699Z,1628981740.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:55:41.097Z,1628981741.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:55:41.097Z,1628981741.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:55:41.097Z,1628981741.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:55:41.098Z,1628981741.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:55:41.489Z,1628981741.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,00F2D,184,80,80,B2,FF
2021-08-14T22:55:41.489Z,1628981741.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:55:41.490Z,1628981741.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:55:41.491Z,1628981741.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:55:41.910Z,1628981741.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:55:42.733Z,1628981742.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC1,000,00EEF,185,80,80,AF,FF
2021-08-14T22:55:42.734Z,1628981742.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:55:42.737Z,1628981742.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225542.63*5D

2021-08-14T22:55:43.164Z,1628981743.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.879974 m, bearing: 292.457280 deg, deltaT: 4.851853 s, approachRate: -0.766718 m/s, LOS rate: 0.000833 deg/s, posRepo size: 4
2021-08-14T22:55:43.174Z,1628981743.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.879974 m,
      bearing: 292.457280 deg,
      approachRate: -0.766718 m/s,
      LOS rate: 0.000833 deg/s,
      cmd update: 0.003334 deg/s,
      cmd heading: 291.617442 deg,
      new cmd heading: 291.677039 deg.

2021-08-14T22:55:45.585Z,1628981745.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:55:45.942Z,1628981745.942 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:55:45.943Z,1628981745.943 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:55:45.943Z,1628981745.943 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:55:45.944Z,1628981745.944 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:55:46.341Z,1628981746.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC1,000,00EEF,185,80,80,AF,FF
2021-08-14T22:55:46.341Z,1628981746.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:55:46.342Z,1628981746.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:55:46.343Z,1628981746.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:55:46.753Z,1628981746.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:55:47.657Z,1628981747.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC2,000,00EB3,184,80,80,A8,FF
2021-08-14T22:55:47.658Z,1628981747.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:55:47.661Z,1628981747.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225547.48*51

2021-08-14T22:55:48.029Z,1628981748.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.279984 m, bearing: 292.806603 deg, deltaT: 4.961890 s, approachRate: -0.725528 m/s, LOS rate: 0.070401 deg/s, posRepo size: 4
2021-08-14T22:55:48.031Z,1628981748.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.279984 m,
      bearing: 292.806603 deg,
      approachRate: -0.725528 m/s,
      LOS rate: 0.070401 deg/s,
      cmd update: 0.281605 deg/s,
      cmd heading: 291.633983 deg,
      new cmd heading: 291.635018 deg.

2021-08-14T22:55:50.415Z,1628981750.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:55:50.775Z,1628981750.775 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:55:50.775Z,1628981750.775 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:55:50.775Z,1628981750.775 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:55:50.780Z,1628981750.780 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:55:51.198Z,1628981751.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC2,000,00EB3,184,80,80,A8,FF
2021-08-14T22:55:51.198Z,1628981751.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:55:51.199Z,1628981751.199 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:55:51.212Z,1628981751.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:55:51.592Z,1628981751.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:55:52.022Z,1628981752.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC2,000,00EB3,184,80,80,A8,FF
2021-08-14T22:55:52.023Z,1628981752.023 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:55:52.047Z,1628981752.047 [Micromodem](INFO): Nmea in: $SNTTA,0.128804,0.321907,,,225552.35*56

2021-08-14T22:55:52.454Z,1628981752.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.279984 m, bearing: 292.008154 deg, deltaT: 4.417962 s, approachRate: 0.000000 m/s, LOS rate: -0.180728 deg/s, posRepo size: 4
2021-08-14T22:55:52.458Z,1628981752.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.279984 m,
      bearing: 292.008154 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.180728 deg/s,
      cmd update: -0.722912 deg/s,
      cmd heading: 292.875756 deg,
      new cmd heading: 292.968565 deg.

2021-08-14T22:55:54.854Z,1628981754.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:55:55.252Z,1628981755.252 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:55:55.253Z,1628981755.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:55:55.253Z,1628981755.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:55:55.254Z,1628981755.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:55:55.633Z,1628981755.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC2,000,00EB3,184,80,80,A8,FF
2021-08-14T22:55:55.633Z,1628981755.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:55:55.633Z,1628981755.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:55:55.635Z,1628981755.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:55:56.057Z,1628981756.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:55:56.861Z,1628981756.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00E42,184,80,80,B0,FF
2021-08-14T22:55:56.861Z,1628981756.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:55:56.864Z,1628981756.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225556.77*5D

2021-08-14T22:55:57.308Z,1628981757.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.500000 m, bearing: 293.232507 deg, deltaT: 4.748146 s, approachRate: -1.427922 m/s, LOS rate: 0.257859 deg/s, posRepo size: 4
2021-08-14T22:55:57.311Z,1628981757.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.500000 m,
      bearing: 293.232507 deg,
      approachRate: -1.427922 m/s,
      LOS rate: 0.257859 deg/s,
      cmd update: 1.031436 deg/s,
      cmd heading: 289.437508 deg,
      new cmd heading: 289.129339 deg.

2021-08-14T22:55:59.687Z,1628981759.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:56:00.069Z,1628981760.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:56:00.069Z,1628981760.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:56:00.069Z,1628981760.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:56:00.070Z,1628981760.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:56:00.482Z,1628981760.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00E42,184,80,80,B0,FF
2021-08-14T22:56:00.482Z,1628981760.482 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:56:00.482Z,1628981760.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:56:00.484Z,1628981760.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:56:00.885Z,1628981760.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:56:01.431Z,1628981761.431 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,00E05,187,80,80,A9,FF
2021-08-14T22:56:01.432Z,1628981761.432 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:56:01.769Z,1628981761.769 [Micromodem](INFO): Nmea in: $SNTTA,0.120685,,,,225601.62*4E

2021-08-14T22:56:01.801Z,1628981761.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.840012 m, bearing: 293.744580 deg, deltaT: 4.583324 s, approachRate: -0.798545 m/s, LOS rate: 0.111725 deg/s, posRepo size: 4
2021-08-14T22:56:01.803Z,1628981761.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.840012 m,
      bearing: 293.744580 deg,
      approachRate: -0.798545 m/s,
      LOS rate: 0.111725 deg/s,
      cmd update: 0.446901 deg/s,
      cmd heading: 294.159833 deg,
      new cmd heading: 294.507926 deg.

2021-08-14T22:56:04.187Z,1628981764.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:56:04.517Z,1628981764.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:56:04.517Z,1628981764.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:56:04.517Z,1628981764.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:56:04.518Z,1628981764.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:56:04.917Z,1628981764.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,00E05,187,80,80,A9,FF
2021-08-14T22:56:04.917Z,1628981764.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:56:04.917Z,1628981764.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:56:04.919Z,1628981764.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:56:05.332Z,1628981765.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:56:05.726Z,1628981765.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,00E05,187,80,80,A9,FF
2021-08-14T22:56:05.726Z,1628981765.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:56:06.141Z,1628981766.141 [Micromodem](INFO): Nmea in: $SNTTA,0.118320,0.426929,,,225606.06*56

2021-08-14T22:56:06.244Z,1628981766.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.840012 m, bearing: 293.656771 deg, deltaT: 4.351139 s, approachRate: 0.000000 m/s, LOS rate: -0.020181 deg/s, posRepo size: 4
2021-08-14T22:56:06.246Z,1628981766.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.840012 m,
      bearing: 293.656771 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.020181 deg/s,
      cmd update: -0.080723 deg/s,
      cmd heading: 296.104862 deg,
      new cmd heading: 296.298215 deg.

2021-08-14T22:56:08.583Z,1628981768.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:56:08.969Z,1628981768.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:56:08.969Z,1628981768.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:56:08.969Z,1628981768.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:56:08.970Z,1628981768.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:56:09.366Z,1628981769.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,00E05,187,80,80,A9,FF
2021-08-14T22:56:09.366Z,1628981769.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:56:09.366Z,1628981769.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:56:09.367Z,1628981769.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:56:09.774Z,1628981769.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:56:10.173Z,1628981770.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,00E05,187,80,80,A9,FF
2021-08-14T22:56:10.174Z,1628981770.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:56:10.617Z,1628981770.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225610.51*58

2021-08-14T22:56:10.640Z,1628981770.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.840012 m, bearing: 293.464487 deg, deltaT: 4.482273 s, approachRate: 0.000000 m/s, LOS rate: -0.042899 deg/s, posRepo size: 4
2021-08-14T22:56:10.642Z,1628981770.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.840012 m,
      bearing: 293.464487 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.042899 deg/s,
      cmd update: -0.171595 deg/s,
      cmd heading: 295.743831 deg,
      new cmd heading: 295.715084 deg.

2021-08-14T22:56:13.023Z,1628981773.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:56:13.401Z,1628981773.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:56:13.401Z,1628981773.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:56:13.401Z,1628981773.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:56:13.402Z,1628981773.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:56:13.866Z,1628981773.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,00E05,187,80,80,A9,FF
2021-08-14T22:56:13.866Z,1628981773.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:56:13.866Z,1628981773.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:56:13.868Z,1628981773.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:56:14.245Z,1628981774.245 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-14T22:56:14.254Z,1628981774.254 [BPC1](INFO): Received data from all battery sticks.
2021-08-14T22:56:14.289Z,1628981774.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:56:15.013Z,1628981775.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,00D5D,183,80,80,AD,FF
2021-08-14T22:56:15.014Z,1628981775.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:56:15.437Z,1628981775.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225615.01*58

2021-08-14T22:56:15.479Z,1628981775.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.760010 m, bearing: 293.687944 deg, deltaT: 4.789493 s, approachRate: -2.104607 m/s, LOS rate: 0.046656 deg/s, posRepo size: 4
2021-08-14T22:56:15.481Z,1628981775.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.760010 m,
      bearing: 293.687944 deg,
      approachRate: -2.104607 m/s,
      LOS rate: 0.046656 deg/s,
      cmd update: 0.186622 deg/s,
      cmd heading: 294.922009 deg,
      new cmd heading: 294.852360 deg.

2021-08-14T22:56:17.864Z,1628981777.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:56:18.255Z,1628981778.255 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:56:18.255Z,1628981778.255 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:56:18.255Z,1628981778.255 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:56:18.256Z,1628981778.256 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:56:18.658Z,1628981778.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,00D5D,183,80,80,AD,FF
2021-08-14T22:56:18.658Z,1628981778.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:56:18.658Z,1628981778.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:56:18.660Z,1628981778.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:56:19.061Z,1628981779.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:56:19.462Z,1628981779.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00D1F,183,80,80,AD,FF
2021-08-14T22:56:19.462Z,1628981779.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:56:19.910Z,1628981779.910 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225619.80*5D

2021-08-14T22:56:19.936Z,1628981779.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.040009 m, bearing: 291.831116 deg, deltaT: 4.435785 s, approachRate: -0.838634 m/s, LOS rate: -0.418602 deg/s, posRepo size: 4
2021-08-14T22:56:19.938Z,1628981779.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.040009 m,
      bearing: 291.831116 deg,
      approachRate: -0.838634 m/s,
      LOS rate: -0.418602 deg/s,
      cmd update: -1.674408 deg/s,
      cmd heading: 295.751699 deg,
      new cmd heading: 295.829628 deg.

2021-08-14T22:56:22.381Z,1628981782.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:56:22.693Z,1628981782.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:56:22.693Z,1628981782.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:56:22.693Z,1628981782.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:56:22.694Z,1628981782.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:56:23.105Z,1628981783.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00D1F,183,80,80,AD,FF
2021-08-14T22:56:23.106Z,1628981783.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:56:23.106Z,1628981783.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:56:23.108Z,1628981783.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:56:23.521Z,1628981783.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:56:23.910Z,1628981783.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,00CED,183,80,80,AD,FF
2021-08-14T22:56:23.910Z,1628981783.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:56:24.322Z,1628981784.322 [Micromodem](INFO): Nmea in: $SNTTA,0.373334,0.373359,,,225624.25*57

2021-08-14T22:56:24.393Z,1628981784.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.039993 m, bearing: 293.093116 deg, deltaT: 4.472252 s, approachRate: -0.670806 m/s, LOS rate: 0.282185 deg/s, posRepo size: 4
2021-08-14T22:56:24.395Z,1628981784.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.039993 m,
      bearing: 293.093116 deg,
      approachRate: -0.670806 m/s,
      LOS rate: 0.282185 deg/s,
      cmd update: 1.128738 deg/s,
      cmd heading: 288.305110 deg,
      new cmd heading: 287.589276 deg.

2021-08-14T22:56:26.771Z,1628981786.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:56:27.137Z,1628981787.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:56:27.137Z,1628981787.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:56:27.137Z,1628981787.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:56:27.138Z,1628981787.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:56:27.549Z,1628981787.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,00CED,183,80,80,AD,FF
2021-08-14T22:56:27.549Z,1628981787.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:56:27.549Z,1628981787.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:56:27.551Z,1628981787.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:56:27.983Z,1628981787.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:56:28.361Z,1628981788.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,00CB4,187,80,80,AD,FF
2021-08-14T22:56:28.362Z,1628981788.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:56:28.789Z,1628981788.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225628.69*58

2021-08-14T22:56:28.823Z,1628981788.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.619995 m, bearing: 294.291377 deg, deltaT: 4.425976 s, approachRate: -0.772711 m/s, LOS rate: 0.270734 deg/s, posRepo size: 4
2021-08-14T22:56:28.826Z,1628981788.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.619995 m,
      bearing: 294.291377 deg,
      approachRate: -0.772711 m/s,
      LOS rate: 0.270734 deg/s,
      cmd update: 1.082935 deg/s,
      cmd heading: 293.324314 deg,
      new cmd heading: 293.787874 deg.

2021-08-14T22:56:31.238Z,1628981791.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:56:31.585Z,1628981791.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:56:31.585Z,1628981791.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:56:31.585Z,1628981791.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:56:31.586Z,1628981791.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:56:32.029Z,1628981792.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,00CB4,187,80,80,AD,FF
2021-08-14T22:56:32.029Z,1628981792.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:56:32.029Z,1628981792.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:56:32.031Z,1628981792.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:56:32.405Z,1628981792.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:56:33.223Z,1628981793.223 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD2,000,00C7C,184,80,80,63,FF
2021-08-14T22:56:33.243Z,1628981793.243 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:56:33.246Z,1628981793.246 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225633.17*5B

2021-08-14T22:56:33.632Z,1628981793.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.259995 m, bearing: 292.370427 deg, deltaT: 4.850606 s, approachRate: -0.692697 m/s, LOS rate: -0.396023 deg/s, posRepo size: 4
2021-08-14T22:56:33.634Z,1628981793.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.259995 m,
      bearing: 292.370427 deg,
      approachRate: -0.692697 m/s,
      LOS rate: -0.396023 deg/s,
      cmd update: -1.584090 deg/s,
      cmd heading: 298.586278 deg,
      new cmd heading: 298.976136 deg.

2021-08-14T22:56:36.097Z,1628981796.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:56:36.437Z,1628981796.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:56:36.437Z,1628981796.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:56:36.437Z,1628981796.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:56:36.438Z,1628981796.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:56:36.833Z,1628981796.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD2,000,00C7C,184,80,80,63,FF
2021-08-14T22:56:36.833Z,1628981796.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:56:36.833Z,1628981796.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:56:36.835Z,1628981796.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:56:37.261Z,1628981797.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:56:37.646Z,1628981797.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,00C41,184,80,80,71,FF
2021-08-14T22:56:37.646Z,1628981797.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:56:38.085Z,1628981798.085 [Micromodem](INFO): Nmea in: $SNTTA,0.105496,,,,225637.98*49

2021-08-14T22:56:38.132Z,1628981798.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.720001 m, bearing: 290.193100 deg, deltaT: 4.393369 s, approachRate: -0.805758 m/s, LOS rate: -0.495594 deg/s, posRepo size: 4
2021-08-14T22:56:38.134Z,1628981798.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.720001 m,
      bearing: 290.193100 deg,
      approachRate: -0.805758 m/s,
      LOS rate: -0.495594 deg/s,
      cmd update: -1.982376 deg/s,
      cmd heading: 291.627336 deg,
      new cmd heading: 290.887009 deg.

2021-08-14T22:56:40.522Z,1628981800.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:56:40.875Z,1628981800.875 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:56:40.875Z,1628981800.875 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:56:40.876Z,1628981800.876 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:56:40.877Z,1628981800.877 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:56:41.298Z,1628981801.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,00C41,184,80,80,71,FF
2021-08-14T22:56:41.298Z,1628981801.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:56:41.298Z,1628981801.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:56:41.301Z,1628981801.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:56:41.688Z,1628981801.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:56:42.109Z,1628981802.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,00C05,187,80,80,94,FF
2021-08-14T22:56:42.110Z,1628981802.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:56:42.114Z,1628981802.114 [Micromodem](INFO): Nmea in: $SNTTA,0.278024,0.277986,,,225642.44*55

2021-08-14T22:56:42.535Z,1628981802.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.119995 m, bearing: 293.395775 deg, deltaT: 4.562375 s, approachRate: -0.789064 m/s, LOS rate: 0.701976 deg/s, posRepo size: 4
2021-08-14T22:56:42.537Z,1628981802.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.119995 m,
      bearing: 293.395775 deg,
      approachRate: -0.789064 m/s,
      LOS rate: 0.701976 deg/s,
      cmd update: 2.807902 deg/s,
      cmd heading: 282.598620 deg,
      new cmd heading: 281.973240 deg.

2021-08-14T22:56:44.947Z,1628981804.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:56:45.318Z,1628981805.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:56:45.318Z,1628981805.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:56:45.318Z,1628981805.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:56:45.319Z,1628981805.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:56:45.758Z,1628981805.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,00C05,187,80,80,94,FF
2021-08-14T22:56:45.758Z,1628981805.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:56:45.758Z,1628981805.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:56:45.769Z,1628981805.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:56:46.139Z,1628981806.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:56:46.936Z,1628981806.936 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,00BD2,186,80,80,A8,FF
2021-08-14T22:56:46.937Z,1628981806.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:56:46.943Z,1628981806.943 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225646.92*54

2021-08-14T22:56:47.387Z,1628981807.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.059998 m, bearing: 294.532510 deg, deltaT: 4.793353 s, approachRate: -0.638384 m/s, LOS rate: 0.237148 deg/s, posRepo size: 4
2021-08-14T22:56:47.410Z,1628981807.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.059998 m,
      bearing: 294.532510 deg,
      approachRate: -0.638384 m/s,
      LOS rate: 0.237148 deg/s,
      cmd update: 0.948593 deg/s,
      cmd heading: 296.057502 deg,
      new cmd heading: 297.109941 deg.

2021-08-14T22:56:49.787Z,1628981809.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:56:50.161Z,1628981810.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:56:50.161Z,1628981810.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:56:50.161Z,1628981810.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:56:50.162Z,1628981810.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:56:50.577Z,1628981810.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,00BD2,186,80,80,A8,FF
2021-08-14T22:56:50.577Z,1628981810.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:56:50.577Z,1628981810.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:56:50.579Z,1628981810.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:56:50.973Z,1628981810.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:56:51.389Z,1628981811.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCC,000,00B9A,184,80,80,AA,FF
2021-08-14T22:56:51.389Z,1628981811.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:56:51.818Z,1628981811.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225651.72*5C

2021-08-14T22:56:51.867Z,1628981811.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.699997 m, bearing: 292.151015 deg, deltaT: 4.428980 s, approachRate: -0.758640 m/s, LOS rate: -0.537707 deg/s, posRepo size: 4
2021-08-14T22:56:51.871Z,1628981811.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.699997 m,
      bearing: 292.151015 deg,
      approachRate: -0.758640 m/s,
      LOS rate: -0.537707 deg/s,
      cmd update: -2.150830 deg/s,
      cmd heading: 300.262778 deg,
      new cmd heading: 300.661383 deg.

2021-08-14T22:56:54.326Z,1628981814.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:56:54.621Z,1628981814.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:56:54.621Z,1628981814.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:56:54.621Z,1628981814.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:56:54.622Z,1628981814.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:56:55.021Z,1628981815.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCC,000,00B9A,184,80,80,AA,FF
2021-08-14T22:56:55.022Z,1628981815.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:56:55.022Z,1628981815.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:56:55.024Z,1628981815.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:56:55.425Z,1628981815.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:56:55.838Z,1628981815.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,00B64,186,80,80,A8,FF
2021-08-14T22:56:55.843Z,1628981815.843 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:56:56.273Z,1628981816.273 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225656.16*59

2021-08-14T22:56:56.353Z,1628981816.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.460007 m, bearing: 292.457280 deg, deltaT: 4.470462 s, approachRate: -0.724755 m/s, LOS rate: 0.068509 deg/s, posRepo size: 4
2021-08-14T22:56:56.355Z,1628981816.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.460007 m,
      bearing: 292.457280 deg,
      approachRate: -0.724755 m/s,
      LOS rate: 0.068509 deg/s,
      cmd update: 0.274035 deg/s,
      cmd heading: 290.652412 deg,
      new cmd heading: 289.708614 deg.

2021-08-14T22:56:58.672Z,1628981818.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:56:59.049Z,1628981819.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:56:59.049Z,1628981819.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:56:59.049Z,1628981819.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:56:59.050Z,1628981819.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:56:59.454Z,1628981819.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,00B64,186,80,80,A8,FF
2021-08-14T22:56:59.454Z,1628981819.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:56:59.454Z,1628981819.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:56:59.456Z,1628981819.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:56:59.870Z,1628981819.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:57:00.281Z,1628981820.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBC,000,00B31,184,80,80,AA,FF
2021-08-14T22:57:00.281Z,1628981820.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:57:00.709Z,1628981820.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225700.60*5A

2021-08-14T22:57:00.732Z,1628981820.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.400009 m, bearing: 295.312409 deg, deltaT: 4.451335 s, approachRate: -0.687434 m/s, LOS rate: 0.641409 deg/s, posRepo size: 4
2021-08-14T22:57:00.734Z,1628981820.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.400009 m,
      bearing: 295.312409 deg,
      approachRate: -0.687434 m/s,
      LOS rate: 0.641409 deg/s,
      cmd update: 2.565638 deg/s,
      cmd heading: 291.872902 deg,
      new cmd heading: 291.972683 deg.

2021-08-14T22:57:03.130Z,1628981823.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:57:03.490Z,1628981823.490 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:57:03.490Z,1628981823.490 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:57:03.491Z,1628981823.491 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:57:03.492Z,1628981823.492 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:57:03.909Z,1628981823.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBC,000,00B31,184,80,80,AA,FF
2021-08-14T22:57:03.909Z,1628981823.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:57:03.909Z,1628981823.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:57:03.911Z,1628981823.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:57:04.319Z,1628981824.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:57:04.713Z,1628981824.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00AFC,185,80,80,AE,FF
2021-08-14T22:57:04.714Z,1628981824.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:57:05.145Z,1628981825.145 [Micromodem](INFO): Nmea in: $SNTTA,0.090019,,,,225705.05*43

2021-08-14T22:57:05.220Z,1628981825.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.220001 m, bearing: 294.970325 deg, deltaT: 4.416569 s, approachRate: -0.720018 m/s, LOS rate: -0.077455 deg/s, posRepo size: 4
2021-08-14T22:57:05.222Z,1628981825.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.220001 m,
      bearing: 294.970325 deg,
      approachRate: -0.720018 m/s,
      LOS rate: -0.077455 deg/s,
      cmd update: -0.309818 deg/s,
      cmd heading: 303.203662 deg,
      new cmd heading: 304.311312 deg.

2021-08-14T22:57:07.589Z,1628981827.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:57:07.948Z,1628981827.948 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:57:07.949Z,1628981827.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:57:07.949Z,1628981827.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:57:07.951Z,1628981827.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:57:08.358Z,1628981828.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00AFC,185,80,80,AE,FF
2021-08-14T22:57:08.358Z,1628981828.358 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:57:08.358Z,1628981828.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:57:08.360Z,1628981828.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:57:08.757Z,1628981828.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:57:09.157Z,1628981829.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,00AC4,186,80,80,B8,FF
2021-08-14T22:57:09.157Z,1628981829.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:57:09.589Z,1628981829.589 [Micromodem](INFO): Nmea in: $SNTTA,0.087503,,,,225709.50*47

2021-08-14T22:57:09.635Z,1628981829.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.860001 m, bearing: 291.922258 deg, deltaT: 4.429956 s, approachRate: -0.758473 m/s, LOS rate: -0.688058 deg/s, posRepo size: 4
2021-08-14T22:57:09.642Z,1628981829.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.860001 m,
      bearing: 291.922258 deg,
      approachRate: -0.758473 m/s,
      LOS rate: -0.688058 deg/s,
      cmd update: -2.752233 deg/s,
      cmd heading: 301.832455 deg,
      new cmd heading: 301.700609 deg.

2021-08-14T22:57:12.076Z,1628981832.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:57:12.397Z,1628981832.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:57:12.397Z,1628981832.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:57:12.397Z,1628981832.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:57:12.398Z,1628981832.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:57:12.789Z,1628981832.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,00AC4,186,80,80,B8,FF
2021-08-14T22:57:12.789Z,1628981832.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:57:12.789Z,1628981832.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:57:12.791Z,1628981832.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:57:13.216Z,1628981833.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:57:13.605Z,1628981833.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,00A8E,186,80,80,AC,FF
2021-08-14T22:57:13.605Z,1628981833.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:57:14.057Z,1628981834.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225713.93*54

2021-08-14T22:57:14.117Z,1628981834.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.620003 m, bearing: 292.393131 deg, deltaT: 4.436442 s, approachRate: -0.730314 m/s, LOS rate: 0.106138 deg/s, posRepo size: 4
2021-08-14T22:57:14.119Z,1628981834.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.620003 m,
      bearing: 292.393131 deg,
      approachRate: -0.730314 m/s,
      LOS rate: 0.106138 deg/s,
      cmd update: 0.424550 deg/s,
      cmd heading: 289.611098 deg,
      new cmd heading: 288.338083 deg.

2021-08-14T22:57:16.457Z,1628981836.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:57:16.830Z,1628981836.830 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:57:16.830Z,1628981836.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:57:16.830Z,1628981836.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:57:16.831Z,1628981836.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:57:17.249Z,1628981837.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,00A8E,186,80,80,AC,FF
2021-08-14T22:57:17.249Z,1628981837.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:57:17.249Z,1628981837.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:57:17.251Z,1628981837.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:57:17.641Z,1628981837.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:57:18.054Z,1628981838.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,00A59,184,80,80,9C,FF
2021-08-14T22:57:18.054Z,1628981838.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:57:18.057Z,1628981838.057 [Micromodem](INFO): Nmea in: $SNTTA,0.261425,0.261750,,,225718.39*5E

2021-08-14T22:57:18.494Z,1628981838.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.439995 m, bearing: 293.921318 deg, deltaT: 4.482974 s, approachRate: -0.709352 m/s, LOS rate: 0.340887 deg/s, posRepo size: 4
2021-08-14T22:57:18.496Z,1628981838.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.439995 m,
      bearing: 293.921318 deg,
      approachRate: -0.709352 m/s,
      LOS rate: 0.340887 deg/s,
      cmd update: 1.363547 deg/s,
      cmd heading: 291.510599 deg,
      new cmd heading: 291.667374 deg.

2021-08-14T22:57:20.919Z,1628981840.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:57:21.273Z,1628981841.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:57:21.273Z,1628981841.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:57:21.273Z,1628981841.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:57:21.274Z,1628981841.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:57:21.681Z,1628981841.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,00A59,184,80,80,9C,FF
2021-08-14T22:57:21.681Z,1628981841.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:57:21.681Z,1628981841.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:57:21.683Z,1628981841.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:57:22.085Z,1628981842.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:57:22.489Z,1628981842.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,00A26,187,80,80,AB,FF
2021-08-14T22:57:22.489Z,1628981842.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:57:22.931Z,1628981842.931 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225722.82*56

2021-08-14T22:57:22.949Z,1628981842.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.379997 m, bearing: 293.335178 deg, deltaT: 4.428755 s, approachRate: -0.690939 m/s, LOS rate: -0.132349 deg/s, posRepo size: 4
2021-08-14T22:57:22.951Z,1628981842.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.379997 m,
      bearing: 293.335178 deg,
      approachRate: -0.690939 m/s,
      LOS rate: -0.132349 deg/s,
      cmd update: -0.529394 deg/s,
      cmd heading: 297.554282 deg,
      new cmd heading: 298.087612 deg.

2021-08-14T22:57:25.358Z,1628981845.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:57:25.717Z,1628981845.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:57:25.717Z,1628981845.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:57:25.717Z,1628981845.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:57:25.718Z,1628981845.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:57:26.125Z,1628981846.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,00A26,187,80,80,AB,FF
2021-08-14T22:57:26.125Z,1628981846.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:57:26.125Z,1628981846.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:57:26.127Z,1628981846.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:57:26.528Z,1628981846.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:57:26.941Z,1628981846.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,009EF,183,80,80,A8,FF
2021-08-14T22:57:26.942Z,1628981846.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:57:27.382Z,1628981847.382 [Micromodem](INFO): Nmea in: $SNTTA,0.097837,,,,225727.27*40

2021-08-14T22:57:27.408Z,1628981847.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.080002 m, bearing: 292.478044 deg, deltaT: 4.419129 s, approachRate: -0.746752 m/s, LOS rate: -0.193960 deg/s, posRepo size: 4
2021-08-14T22:57:27.410Z,1628981847.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.080002 m,
      bearing: 292.478044 deg,
      approachRate: -0.746752 m/s,
      LOS rate: -0.193960 deg/s,
      cmd update: -0.775840 deg/s,
      cmd heading: 295.223240 deg,
      new cmd heading: 294.986195 deg.

2021-08-14T22:57:29.779Z,1628981849.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:57:30.173Z,1628981850.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:57:30.173Z,1628981850.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:57:30.174Z,1628981850.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:57:30.175Z,1628981850.175 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:57:30.569Z,1628981850.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,009EF,183,80,80,A8,FF
2021-08-14T22:57:30.569Z,1628981850.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:57:30.569Z,1628981850.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:57:30.571Z,1628981850.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:57:30.977Z,1628981850.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:57:31.383Z,1628981851.383 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,009B6,183,80,80,C1,FF
2021-08-14T22:57:31.383Z,1628981851.383 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:57:31.817Z,1628981851.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225731.71*58

2021-08-14T22:57:31.860Z,1628981851.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.660004 m, bearing: 292.150933 deg, deltaT: 4.425242 s, approachRate: -0.772839 m/s, LOS rate: -0.073919 deg/s, posRepo size: 4
2021-08-14T22:57:31.862Z,1628981851.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.660004 m,
      bearing: 292.150933 deg,
      approachRate: -0.772839 m/s,
      LOS rate: -0.073919 deg/s,
      cmd update: -0.295678 deg/s,
      cmd heading: 291.770255 deg,
      new cmd heading: 291.437413 deg.

2021-08-14T22:57:34.329Z,1628981854.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:57:34.613Z,1628981854.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:57:34.613Z,1628981854.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:57:34.614Z,1628981854.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:57:34.615Z,1628981854.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:57:35.025Z,1628981855.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,009B6,183,80,80,C1,FF
2021-08-14T22:57:35.025Z,1628981855.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:57:35.025Z,1628981855.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:57:35.027Z,1628981855.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:57:35.434Z,1628981855.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:57:35.869Z,1628981855.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,00982,184,80,80,BC,FF
2021-08-14T22:57:35.870Z,1628981855.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:57:36.257Z,1628981856.257 [Micromodem](INFO): Nmea in: $SNTTA,0.370972,0.370972,,,225736.17*5F

2021-08-14T22:57:36.350Z,1628981856.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.540001 m, bearing: 293.376788 deg, deltaT: 4.497011 s, approachRate: -0.693795 m/s, LOS rate: 0.272593 deg/s, posRepo size: 4
2021-08-14T22:57:36.356Z,1628981856.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.540001 m,
      bearing: 293.376788 deg,
      approachRate: -0.693795 m/s,
      LOS rate: 0.272593 deg/s,
      cmd update: 1.090373 deg/s,
      cmd heading: 290.441839 deg,
      new cmd heading: 290.309855 deg.

2021-08-14T22:57:38.690Z,1628981858.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:57:39.073Z,1628981859.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:57:39.073Z,1628981859.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:57:39.073Z,1628981859.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:57:39.074Z,1628981859.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:57:39.461Z,1628981859.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,00982,184,80,80,BC,FF
2021-08-14T22:57:39.461Z,1628981859.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:57:39.461Z,1628981859.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:57:39.463Z,1628981859.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:57:39.889Z,1628981859.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:57:40.273Z,1628981860.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,0094A,184,80,80,AC,FF
2021-08-14T22:57:40.273Z,1628981860.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:57:40.719Z,1628981860.719 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225740.60*5E

2021-08-14T22:57:40.737Z,1628981860.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.180000 m, bearing: 292.760267 deg, deltaT: 4.456151 s, approachRate: -0.754014 m/s, LOS rate: -0.138353 deg/s, posRepo size: 4
2021-08-14T22:57:40.739Z,1628981860.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.180000 m,
      bearing: 292.760267 deg,
      approachRate: -0.754014 m/s,
      LOS rate: -0.138353 deg/s,
      cmd update: -0.553411 deg/s,
      cmd heading: 295.305299 deg,
      new cmd heading: 295.711957 deg.

2021-08-14T22:57:43.123Z,1628981863.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:57:43.501Z,1628981863.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:57:43.501Z,1628981863.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:57:43.501Z,1628981863.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:57:43.502Z,1628981863.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:57:43.906Z,1628981863.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,0094A,184,80,80,AC,FF
2021-08-14T22:57:43.906Z,1628981863.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:57:43.906Z,1628981863.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:57:43.909Z,1628981863.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:57:44.315Z,1628981864.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:57:44.711Z,1628981864.711 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00912,185,80,80,AD,FF
2021-08-14T22:57:44.711Z,1628981864.711 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:57:45.154Z,1628981865.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225745.05*58

2021-08-14T22:57:45.227Z,1628981865.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.820007 m, bearing: 293.533308 deg, deltaT: 4.403348 s, approachRate: -0.763054 m/s, LOS rate: 0.175558 deg/s, posRepo size: 4
2021-08-14T22:57:45.233Z,1628981865.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.820007 m,
      bearing: 293.533308 deg,
      approachRate: -0.763054 m/s,
      LOS rate: 0.175558 deg/s,
      cmd update: 0.702230 deg/s,
      cmd heading: 292.874125 deg,
      new cmd heading: 292.614088 deg.

2021-08-14T22:57:47.569Z,1628981867.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:57:47.961Z,1628981867.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:57:47.961Z,1628981867.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:57:47.962Z,1628981867.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:57:47.963Z,1628981867.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:57:48.354Z,1628981868.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00912,185,80,80,AD,FF
2021-08-14T22:57:48.354Z,1628981868.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:57:48.354Z,1628981868.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:57:48.356Z,1628981868.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:57:48.770Z,1628981868.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:57:49.188Z,1628981869.188 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,008DA,183,80,80,7B,FF
2021-08-14T22:57:49.189Z,1628981869.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:57:49.605Z,1628981869.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225749.50*54

2021-08-14T22:57:49.638Z,1628981869.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.460007 m, bearing: 292.173882 deg, deltaT: 4.486233 s, approachRate: -0.748958 m/s, LOS rate: -0.303022 deg/s, posRepo size: 4
2021-08-14T22:57:49.661Z,1628981869.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.460007 m,
      bearing: 292.173882 deg,
      approachRate: -0.748958 m/s,
      LOS rate: -0.303022 deg/s,
      cmd update: -1.212087 deg/s,
      cmd heading: 296.025880 deg,
      new cmd heading: 296.300878 deg.

2021-08-14T22:57:52.089Z,1628981872.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:57:52.397Z,1628981872.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:57:52.397Z,1628981872.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:57:52.397Z,1628981872.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:57:52.398Z,1628981872.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:57:52.801Z,1628981872.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,008DA,183,80,80,7B,FF
2021-08-14T22:57:52.801Z,1628981872.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:57:52.801Z,1628981872.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:57:52.803Z,1628981872.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:57:53.225Z,1628981873.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:57:53.609Z,1628981873.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,008A6,183,80,80,B4,FF
2021-08-14T22:57:53.609Z,1628981873.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:57:54.058Z,1628981874.058 [Micromodem](INFO): Nmea in: $SNTTA,,0.484849,,,225753.94*44

2021-08-14T22:57:54.094Z,1628981874.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.340004 m, bearing: 293.171636 deg, deltaT: 4.372989 s, approachRate: -0.713471 m/s, LOS rate: 0.228163 deg/s, posRepo size: 4
2021-08-14T22:57:54.097Z,1628981874.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.340004 m,
      bearing: 293.171636 deg,
      approachRate: -0.713471 m/s,
      LOS rate: 0.228163 deg/s,
      cmd update: 0.912652 deg/s,
      cmd heading: 290.715398 deg,
      new cmd heading: 290.148050 deg.

2021-08-14T22:57:56.137Z,1628981876.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:57:56.429Z,1628981876.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:57:56.429Z,1628981876.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:57:56.429Z,1628981876.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:57:56.430Z,1628981876.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:57:56.833Z,1628981876.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,008A6,183,80,80,B4,FF
2021-08-14T22:57:56.833Z,1628981876.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:57:56.833Z,1628981876.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:57:56.835Z,1628981876.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:57:57.264Z,1628981877.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:57:57.645Z,1628981877.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD1,000,00872,185,80,80,B4,FF
2021-08-14T22:57:57.645Z,1628981877.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:57:58.081Z,1628981878.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225757.97*50

2021-08-14T22:57:58.155Z,1628981878.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.220001 m, bearing: 292.264368 deg, deltaT: 4.065097 s, approachRate: -0.767510 m/s, LOS rate: -0.223185 deg/s, posRepo size: 4
2021-08-14T22:57:58.161Z,1628981878.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.220001 m,
      bearing: 292.264368 deg,
      approachRate: -0.767510 m/s,
      LOS rate: -0.223185 deg/s,
      cmd update: -0.892739 deg/s,
      cmd heading: 294.403492 deg,
      new cmd heading: 294.832134 deg.

2021-08-14T22:58:00.502Z,1628981880.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:58:00.880Z,1628981880.880 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:58:00.883Z,1628981880.883 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:58:00.883Z,1628981880.883 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:58:00.902Z,1628981880.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:58:01.277Z,1628981881.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD1,000,00872,185,80,80,B4,FF
2021-08-14T22:58:01.277Z,1628981881.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:58:01.277Z,1628981881.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:58:01.279Z,1628981881.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:58:01.684Z,1628981881.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:58:02.093Z,1628981882.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,0083D,184,80,80,B6,FF
2021-08-14T22:58:02.093Z,1628981882.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:58:02.533Z,1628981882.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225802.42*57

2021-08-14T22:58:02.560Z,1628981882.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.040009 m, bearing: 293.602375 deg, deltaT: 4.509915 s, approachRate: -0.705111 m/s, LOS rate: 0.296681 deg/s, posRepo size: 4
2021-08-14T22:58:02.562Z,1628981882.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.040009 m,
      bearing: 293.602375 deg,
      approachRate: -0.705111 m/s,
      LOS rate: 0.296681 deg/s,
      cmd update: 1.186725 deg/s,
      cmd heading: 290.385237 deg,
      new cmd heading: 290.036003 deg.

2021-08-14T22:58:04.946Z,1628981884.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:58:05.318Z,1628981885.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:58:05.318Z,1628981885.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:58:05.318Z,1628981885.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:58:05.319Z,1628981885.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:58:05.723Z,1628981885.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,0083D,184,80,80,B6,FF
2021-08-14T22:58:05.723Z,1628981885.723 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:58:05.723Z,1628981885.723 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:58:05.725Z,1628981885.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:58:06.137Z,1628981886.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:58:06.525Z,1628981886.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00804,184,80,80,AF,FF
2021-08-14T22:58:06.526Z,1628981886.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:58:06.981Z,1628981886.981 [Micromodem](INFO): Nmea in: $SNTTA,0.025115,,,,225806.87*46

2021-08-14T22:58:07.004Z,1628981887.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.620003 m, bearing: 293.358783 deg, deltaT: 4.376171 s, approachRate: -0.781506 m/s, LOS rate: -0.055663 deg/s, posRepo size: 4
2021-08-14T22:58:07.006Z,1628981887.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.620003 m,
      bearing: 293.358783 deg,
      approachRate: -0.781506 m/s,
      LOS rate: -0.055663 deg/s,
      cmd update: -0.222653 deg/s,
      cmd heading: 295.617503 deg,
      new cmd heading: 296.123279 deg.

2021-08-14T22:58:09.403Z,1628981889.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:58:09.769Z,1628981889.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:58:09.769Z,1628981889.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:58:09.769Z,1628981889.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:58:09.770Z,1628981889.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:58:10.161Z,1628981890.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00804,184,80,80,AF,FF
2021-08-14T22:58:10.161Z,1628981890.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:58:10.162Z,1628981890.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:58:10.165Z,1628981890.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:58:10.657Z,1628981890.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:58:11.061Z,1628981891.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,007D0,183,80,80,96,FF
2021-08-14T22:58:11.061Z,1628981891.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:58:11.475Z,1628981891.475 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225811.31*51

2021-08-14T22:58:11.501Z,1628981891.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.500000 m, bearing: 290.994281 deg, deltaT: 4.558274 s, approachRate: -0.684470 m/s, LOS rate: -0.518728 deg/s, posRepo size: 4
2021-08-14T22:58:11.503Z,1628981891.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.500000 m,
      bearing: 290.994281 deg,
      approachRate: -0.684470 m/s,
      LOS rate: -0.518728 deg/s,
      cmd update: -2.074910 deg/s,
      cmd heading: 294.604393 deg,
      new cmd heading: 294.521318 deg.

2021-08-14T22:58:13.911Z,1628981893.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:58:14.289Z,1628981894.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:58:14.290Z,1628981894.290 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:58:14.290Z,1628981894.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:58:14.291Z,1628981894.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:58:14.697Z,1628981894.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,007D0,183,80,80,96,FF
2021-08-14T22:58:14.697Z,1628981894.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:58:14.697Z,1628981894.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:58:14.699Z,1628981894.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:58:15.105Z,1628981895.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:58:15.501Z,1628981895.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,00795,185,80,80,81,FF
2021-08-14T22:58:15.502Z,1628981895.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:58:15.988Z,1628981895.988 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225815.84*5B

2021-08-14T22:58:16.053Z,1628981896.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.959999 m, bearing: 292.857229 deg, deltaT: 4.393042 s, approachRate: -0.805820 m/s, LOS rate: 0.424068 deg/s, posRepo size: 4
2021-08-14T22:58:16.055Z,1628981896.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.959999 m,
      bearing: 292.857229 deg,
      approachRate: -0.805820 m/s,
      LOS rate: 0.424068 deg/s,
      cmd update: 1.696271 deg/s,
      cmd heading: 285.472679 deg,
      new cmd heading: 284.385206 deg.

2021-08-14T22:58:18.397Z,1628981898.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:58:18.741Z,1628981898.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:58:18.741Z,1628981898.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:58:18.742Z,1628981898.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:58:18.742Z,1628981898.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:58:19.141Z,1628981899.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,00795,185,80,80,81,FF
2021-08-14T22:58:19.141Z,1628981899.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:58:19.142Z,1628981899.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:58:19.143Z,1628981899.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:58:19.545Z,1628981899.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:58:19.952Z,1628981899.952 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,0075D,186,80,80,CD,FF
2021-08-14T22:58:19.954Z,1628981899.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:58:20.385Z,1628981900.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225820.28*5B

2021-08-14T22:58:20.443Z,1628981900.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.600006 m, bearing: 292.506075 deg, deltaT: 4.496608 s, approachRate: -0.747228 m/s, LOS rate: -0.078093 deg/s, posRepo size: 4
2021-08-14T22:58:20.446Z,1628981900.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.600006 m,
      bearing: 292.506075 deg,
      approachRate: -0.747228 m/s,
      LOS rate: -0.078093 deg/s,
      cmd update: -0.312372 deg/s,
      cmd heading: 293.092711 deg,
      new cmd heading: 293.809637 deg.

2021-08-14T22:58:22.795Z,1628981902.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:58:23.196Z,1628981903.196 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:58:23.197Z,1628981903.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:58:23.197Z,1628981903.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:58:23.199Z,1628981903.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:58:23.581Z,1628981903.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,0075D,186,80,80,CD,FF
2021-08-14T22:58:23.582Z,1628981903.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:58:23.582Z,1628981903.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:58:23.583Z,1628981903.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:58:24.036Z,1628981904.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:58:24.385Z,1628981904.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8F,000,00729,187,80,80,A3,FF
2021-08-14T22:58:24.386Z,1628981904.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:58:24.845Z,1628981904.845 [Micromodem](INFO): Nmea in: $SNTTA,0.057056,,,,225824.72*4F

2021-08-14T22:58:24.864Z,1628981904.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.480003 m, bearing: 293.872577 deg, deltaT: 4.432764 s, approachRate: -0.703850 m/s, LOS rate: 0.308273 deg/s, posRepo size: 4
2021-08-14T22:58:24.866Z,1628981904.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.480003 m,
      bearing: 293.872577 deg,
      approachRate: -0.703850 m/s,
      LOS rate: 0.308273 deg/s,
      cmd update: 1.233093 deg/s,
      cmd heading: 291.706606 deg,
      new cmd heading: 291.579884 deg.

2021-08-14T22:58:27.282Z,1628981907.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:58:27.621Z,1628981907.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:58:27.621Z,1628981907.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:58:27.621Z,1628981907.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:58:27.622Z,1628981907.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:58:28.049Z,1628981908.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8F,000,00729,187,80,80,A3,FF
2021-08-14T22:58:28.049Z,1628981908.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:58:28.049Z,1628981908.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:58:28.051Z,1628981908.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:58:28.461Z,1628981908.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:58:28.857Z,1628981908.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,006EE,184,80,80,AE,FF
2021-08-14T22:58:28.858Z,1628981908.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:58:29.310Z,1628981909.310 [Micromodem](INFO): Nmea in: $SNTTA,0.056042,,,,225829.20*41

2021-08-14T22:58:29.341Z,1628981909.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.940002 m, bearing: 292.002144 deg, deltaT: 4.447238 s, approachRate: -0.796000 m/s, LOS rate: -0.420583 deg/s, posRepo size: 4
2021-08-14T22:58:29.343Z,1628981909.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.940002 m,
      bearing: 292.002144 deg,
      approachRate: -0.796000 m/s,
      LOS rate: -0.420583 deg/s,
      cmd update: -1.682333 deg/s,
      cmd heading: 297.158655 deg,
      new cmd heading: 297.727635 deg.

2021-08-14T22:58:31.711Z,1628981911.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:58:32.094Z,1628981912.094 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:58:32.094Z,1628981912.094 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:58:32.094Z,1628981912.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:58:32.095Z,1628981912.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:58:32.493Z,1628981912.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,006EE,184,80,80,AE,FF
2021-08-14T22:58:32.493Z,1628981912.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:58:32.493Z,1628981912.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:58:32.495Z,1628981912.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:58:32.905Z,1628981912.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:58:33.302Z,1628981913.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,006B5,184,80,80,BA,FF
2021-08-14T22:58:33.303Z,1628981913.303 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:58:33.745Z,1628981913.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225833.64*51

2021-08-14T22:58:33.768Z,1628981913.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.520004 m, bearing: 293.755371 deg, deltaT: 4.468851 s, approachRate: -0.765297 m/s, LOS rate: 0.392322 deg/s, posRepo size: 4
2021-08-14T22:58:33.770Z,1628981913.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.520004 m,
      bearing: 293.755371 deg,
      approachRate: -0.765297 m/s,
      LOS rate: 0.392322 deg/s,
      cmd update: 1.569287 deg/s,
      cmd heading: 289.603823 deg,
      new cmd heading: 288.934996 deg.

2021-08-14T22:58:36.232Z,1628981916.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:58:36.533Z,1628981916.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:58:36.533Z,1628981916.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:58:36.533Z,1628981916.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:58:36.534Z,1628981916.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:58:36.941Z,1628981916.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,006B5,184,80,80,BA,FF
2021-08-14T22:58:36.941Z,1628981916.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:58:36.941Z,1628981916.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:58:36.943Z,1628981916.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:58:37.353Z,1628981917.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:58:37.745Z,1628981917.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,0067E,187,80,80,BC,FF
2021-08-14T22:58:37.745Z,1628981917.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:58:38.186Z,1628981918.186 [Micromodem](INFO): Nmea in: $SNTTA,0.415742,0.415629,,,225838.08*5C

2021-08-14T22:58:38.257Z,1628981918.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.220009 m, bearing: 294.778834 deg, deltaT: 4.420579 s, approachRate: -0.746508 m/s, LOS rate: 0.231522 deg/s, posRepo size: 4
2021-08-14T22:58:38.259Z,1628981918.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.220009 m,
      bearing: 294.778834 deg,
      approachRate: -0.746508 m/s,
      LOS rate: 0.231522 deg/s,
      cmd update: 0.926089 deg/s,
      cmd heading: 296.540804 deg,
      new cmd heading: 297.271719 deg.

2021-08-14T22:58:40.609Z,1628981920.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:58:40.981Z,1628981920.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:58:40.981Z,1628981920.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:58:40.981Z,1628981920.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:58:40.982Z,1628981920.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:58:41.386Z,1628981921.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,0067E,187,80,80,BC,FF
2021-08-14T22:58:41.386Z,1628981921.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:58:41.386Z,1628981921.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:58:41.388Z,1628981921.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:58:41.789Z,1628981921.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:58:42.201Z,1628981922.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,00649,183,80,80,B3,FF
2021-08-14T22:58:42.203Z,1628981922.203 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:58:42.629Z,1628981922.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225842.53*53

2021-08-14T22:58:42.664Z,1628981922.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.040001 m, bearing: 293.727094 deg, deltaT: 4.476763 s, approachRate: -0.710336 m/s, LOS rate: -0.234933 deg/s, posRepo size: 4
2021-08-14T22:58:42.666Z,1628981922.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.040001 m,
      bearing: 293.727094 deg,
      approachRate: -0.710336 m/s,
      LOS rate: -0.234933 deg/s,
      cmd update: -0.939732 deg/s,
      cmd heading: 300.690442 deg,
      new cmd heading: 301.053572 deg.

2021-08-14T22:58:45.039Z,1628981925.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:58:45.425Z,1628981925.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:58:45.425Z,1628981925.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:58:45.425Z,1628981925.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:58:45.426Z,1628981925.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:58:45.837Z,1628981925.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,00649,183,80,80,B3,FF
2021-08-14T22:58:45.837Z,1628981925.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:58:45.838Z,1628981925.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:58:45.839Z,1628981925.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:58:46.256Z,1628981926.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:58:46.641Z,1628981926.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,00610,184,80,80,B4,FF
2021-08-14T22:58:46.642Z,1628981926.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:58:47.069Z,1628981927.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225846.99*51

2021-08-14T22:58:47.100Z,1628981927.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.619995 m, bearing: 292.560635 deg, deltaT: 4.414694 s, approachRate: -0.774687 m/s, LOS rate: -0.264222 deg/s, posRepo size: 4
2021-08-14T22:58:47.102Z,1628981927.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.619995 m,
      bearing: 292.560635 deg,
      approachRate: -0.774687 m/s,
      LOS rate: -0.264222 deg/s,
      cmd update: -1.056888 deg/s,
      cmd heading: 296.545708 deg,
      new cmd heading: 296.153163 deg.

2021-08-14T22:58:49.483Z,1628981929.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:58:49.878Z,1628981929.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:58:49.878Z,1628981929.878 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:58:49.879Z,1628981929.879 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:58:49.880Z,1628981929.880 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:58:50.269Z,1628981930.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,00610,184,80,80,B4,FF
2021-08-14T22:58:50.269Z,1628981930.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:58:50.269Z,1628981930.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:58:50.271Z,1628981930.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:58:50.693Z,1628981930.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:58:51.077Z,1628981931.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,005DC,182,80,80,A9,FF
2021-08-14T22:58:51.077Z,1628981931.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:58:51.522Z,1628981931.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225851.41*52

2021-08-14T22:58:51.548Z,1628981931.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.499996 m, bearing: 294.706680 deg, deltaT: 4.436406 s, approachRate: -0.703272 m/s, LOS rate: 0.483735 deg/s, posRepo size: 4
2021-08-14T22:58:51.550Z,1628981931.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.499996 m,
      bearing: 294.706680 deg,
      approachRate: -0.703272 m/s,
      LOS rate: 0.483735 deg/s,
      cmd update: 1.934941 deg/s,
      cmd heading: 291.856752 deg,
      new cmd heading: 291.403193 deg.

2021-08-14T22:58:54.000Z,1628981934.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:58:54.310Z,1628981934.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:58:54.310Z,1628981934.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:58:54.310Z,1628981934.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:58:54.311Z,1628981934.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:58:54.732Z,1628981934.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,005DC,182,80,80,A9,FF
2021-08-14T22:58:54.732Z,1628981934.732 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:58:54.733Z,1628981934.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:58:54.734Z,1628981934.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:58:54.879Z,1628981934.879 [CTD_Seabird](ERROR): Failed to parse device response: 5.53,24.2966,4.800.10
2021-08-14T22:58:55.129Z,1628981935.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:58:55.530Z,1628981935.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,005A3,185,80,80,A5,FF
2021-08-14T22:58:55.530Z,1628981935.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:58:56.017Z,1628981936.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225855.87*5C

2021-08-14T22:58:56.026Z,1628981936.026 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T22:58:56.086Z,1628981936.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.079998 m, bearing: 295.017044 deg, deltaT: 4.437176 s, approachRate: -0.770760 m/s, LOS rate: 0.069946 deg/s, posRepo size: 4
2021-08-14T22:58:56.102Z,1628981936.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.079998 m,
      bearing: 295.017044 deg,
      approachRate: -0.770760 m/s,
      LOS rate: 0.069946 deg/s,
      cmd update: 0.279785 deg/s,
      cmd heading: 300.450075 deg,
      new cmd heading: 301.468618 deg.

2021-08-14T22:58:58.413Z,1628981938.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:58:58.762Z,1628981938.762 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:58:58.762Z,1628981938.762 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:58:58.763Z,1628981938.763 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:58:58.763Z,1628981938.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:58:59.163Z,1628981939.163 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,005A3,185,80,80,A5,FF
2021-08-14T22:58:59.164Z,1628981939.164 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:58:59.165Z,1628981939.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:58:59.171Z,1628981939.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:58:59.571Z,1628981939.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:58:59.990Z,1628981939.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,0056E,186,80,80,99,FF
2021-08-14T22:58:59.991Z,1628981939.991 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:59:00.012Z,1628981940.012 [Micromodem](INFO): Nmea in: $SNTTA,0.298431,0.298363,,,225900.31*50

2021-08-14T22:59:00.431Z,1628981940.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.899998 m, bearing: 291.516080 deg, deltaT: 4.517441 s, approachRate: -0.703938 m/s, LOS rate: -0.774988 deg/s, posRepo size: 4
2021-08-14T22:59:00.434Z,1628981940.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.899998 m,
      bearing: 291.516080 deg,
      approachRate: -0.703938 m/s,
      LOS rate: -0.774988 deg/s,
      cmd update: -3.099953 deg/s,
      cmd heading: 301.713902 deg,
      new cmd heading: 301.813092 deg.

2021-08-14T22:59:02.853Z,1628981942.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:59:03.210Z,1628981943.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:59:03.210Z,1628981943.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:59:03.210Z,1628981943.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:59:03.211Z,1628981943.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:59:03.602Z,1628981943.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,0056E,186,80,80,99,FF
2021-08-14T22:59:03.602Z,1628981943.602 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:59:03.603Z,1628981943.603 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:59:03.637Z,1628981943.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:59:04.065Z,1628981944.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:59:04.411Z,1628981944.411 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,00539,184,80,80,AF,FF
2021-08-14T22:59:04.412Z,1628981944.412 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:59:04.831Z,1628981944.831 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225904.78*59

2021-08-14T22:59:04.869Z,1628981944.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.719997 m, bearing: 292.902417 deg, deltaT: 4.413003 s, approachRate: -0.720598 m/s, LOS rate: 0.314148 deg/s, posRepo size: 4
2021-08-14T22:59:04.871Z,1628981944.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.719997 m,
      bearing: 292.902417 deg,
      approachRate: -0.720598 m/s,
      LOS rate: 0.314148 deg/s,
      cmd update: 1.256593 deg/s,
      cmd heading: 288.032761 deg,
      new cmd heading: 286.860731 deg.

2021-08-14T22:59:07.338Z,1628981947.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:59:07.650Z,1628981947.650 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:59:07.650Z,1628981947.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:59:07.651Z,1628981947.651 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:59:07.652Z,1628981947.652 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:59:07.930Z,1628981947.930 [CTD_Seabird](ERROR): Failed to parse device response: ,24.3544,4.80471,4930.73
2021-08-14T22:59:08.053Z,1628981948.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,00539,184,80,80,AF,FF
2021-08-14T22:59:08.053Z,1628981948.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:59:08.053Z,1628981948.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:59:08.055Z,1628981948.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:59:08.465Z,1628981948.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:59:08.870Z,1628981948.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F57,000,00504,186,80,80,7D,FF
2021-08-14T22:59:08.870Z,1628981948.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:59:09.314Z,1628981949.314 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225909.20*59

2021-08-14T22:59:09.367Z,1628981949.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.540001 m, bearing: 297.184618 deg, deltaT: 4.401316 s, approachRate: -0.722510 m/s, LOS rate: 0.972936 deg/s, posRepo size: 4
2021-08-14T22:59:09.367Z,1628981949.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.54 m.
2021-08-14T22:59:09.370Z,1628981949.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.540001 m,
      bearing: 297.184618 deg,
      approachRate: -0.722510 m/s,
      LOS rate: 0.972936 deg/s,
      cmd update: 3.891746 deg/s,
      cmd heading: 293.563424 deg,
      new cmd heading: 294.160605 deg.

2021-08-14T22:59:09.722Z,1628981949.722 [PowerOnly](INFO): Powering up loadControl
2021-08-14T22:59:09.754Z,1628981949.754 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T22:59:09.754Z,1628981949.754 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T22:59:09.754Z,1628981949.754 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T22:59:09.755Z,1628981949.755 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T22:59:09.755Z,1628981949.755 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T22:59:09.755Z,1628981949.755 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T22:59:10.216Z,1628981950.216 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T22:59:10.216Z,1628981950.216 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T22:59:10.216Z,1628981950.216 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T22:59:10.216Z,1628981950.216 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T22:59:11.776Z,1628981951.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:59:12.097Z,1628981952.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:59:12.097Z,1628981952.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:59:12.097Z,1628981952.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:59:12.098Z,1628981952.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:59:12.509Z,1628981952.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F57,000,00504,186,80,80,7D,FF
2021-08-14T22:59:12.509Z,1628981952.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:59:12.509Z,1628981952.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:59:12.511Z,1628981952.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:59:12.916Z,1628981952.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:59:13.314Z,1628981953.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,004CD,184,80,80,83,FF
2021-08-14T22:59:13.315Z,1628981953.315 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:59:13.373Z,1628981953.373 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T22:59:13.745Z,1628981953.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225913.65*53

2021-08-14T22:59:13.791Z,1628981953.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.239998 m, bearing: 292.882145 deg, deltaT: 4.479208 s, approachRate: -0.736738 m/s, LOS rate: -0.960543 deg/s, posRepo size: 4
2021-08-14T22:59:13.796Z,1628981953.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.24 m.
2021-08-14T22:59:13.798Z,1628981953.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.239998 m,
      bearing: 292.882145 deg,
      approachRate: -0.736738 m/s,
      LOS rate: -0.960543 deg/s,
      cmd update: -3.842173 deg/s,
      cmd heading: 310.916894 deg,
      new cmd heading: 312.631706 deg.

2021-08-14T22:59:16.231Z,1628981956.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:59:16.541Z,1628981956.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:59:16.541Z,1628981956.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:59:16.541Z,1628981956.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:59:16.542Z,1628981956.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:59:16.949Z,1628981956.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,004CD,184,80,80,83,FF
2021-08-14T22:59:16.949Z,1628981956.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:59:16.949Z,1628981956.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:59:16.951Z,1628981956.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:59:17.365Z,1628981957.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:59:17.753Z,1628981957.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,148,000,00497,186,80,80,70,FF
2021-08-14T22:59:17.754Z,1628981957.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:59:17.831Z,1628981957.831 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T22:59:18.201Z,1628981958.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225918.09*52

2021-08-14T22:59:18.297Z,1628981958.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.999996 m, bearing: 287.497525 deg, deltaT: 4.457216 s, approachRate: -0.726912 m/s, LOS rate: -1.208068 deg/s, posRepo size: 4
2021-08-14T22:59:18.298Z,1628981958.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.00 m.
2021-08-14T22:59:18.302Z,1628981958.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.999996 m,
      bearing: 287.497525 deg,
      approachRate: -0.726912 m/s,
      LOS rate: -1.208068 deg/s,
      cmd update: -4.832273 deg/s,
      cmd heading: 293.731389 deg,
      new cmd heading: 291.915713 deg.

2021-08-14T22:59:20.608Z,1628981960.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:59:21.004Z,1628981961.004 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:59:21.004Z,1628981961.004 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:59:21.005Z,1628981961.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:59:21.006Z,1628981961.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:59:21.385Z,1628981961.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
148,000,00497,186,80,80,70,FF
2021-08-14T22:59:21.385Z,1628981961.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:59:21.386Z,1628981961.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:59:21.387Z,1628981961.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:59:21.801Z,1628981961.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:59:22.302Z,1628981962.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EE,000,00469,186,80,80,86,FF
2021-08-14T22:59:22.303Z,1628981962.303 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:59:22.425Z,1628981962.425 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T22:59:22.641Z,1628981962.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225922.53*54

2021-08-14T22:59:22.678Z,1628981962.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.239998 m, bearing: 289.509234 deg, deltaT: 4.594065 s, approachRate: -0.600775 m/s, LOS rate: 0.437893 deg/s, posRepo size: 4
2021-08-14T22:59:22.679Z,1628981962.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.24 m.
2021-08-14T22:59:22.681Z,1628981962.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.239998 m,
      bearing: 289.509234 deg,
      approachRate: -0.600775 m/s,
      LOS rate: 0.437893 deg/s,
      cmd update: 1.751572 deg/s,
      cmd heading: 271.561106 deg,
      new cmd heading: 270.273035 deg.

2021-08-14T22:59:23.084Z,1628981963.084 [DDM](ERROR): Could not parse whisker state
2021-08-14T22:59:25.049Z,1628981965.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:59:25.437Z,1628981965.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:59:25.437Z,1628981965.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:59:25.438Z,1628981965.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:59:25.439Z,1628981965.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:59:25.837Z,1628981965.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EE,000,00469,186,80,80,86,FF
2021-08-14T22:59:25.837Z,1628981965.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:59:25.837Z,1628981965.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:59:25.839Z,1628981965.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:59:26.256Z,1628981966.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:59:26.275Z,1628981966.275 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T22:59:26.641Z,1628981966.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,00438,184,80,80,9D,FF
2021-08-14T22:59:26.642Z,1628981966.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:59:26.690Z,1628981966.690 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T22:59:27.105Z,1628981967.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225926.98*57

2021-08-14T22:59:27.151Z,1628981967.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.300001 m, bearing: 288.832335 deg, deltaT: 4.264781 s, approachRate: -0.689366 m/s, LOS rate: -0.158718 deg/s, posRepo size: 4
2021-08-14T22:59:27.152Z,1628981967.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.30 m.
2021-08-14T22:59:27.153Z,1628981967.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 27.30 m.
2021-08-14T22:59:27.153Z,1628981967.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T22:59:27.155Z,1628981967.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.300001 m,
      bearing: 288.832335 deg,
      approachRate: -0.689366 m/s,
      LOS rate: -0.158718 deg/s,
      cmd update: -0.634873 deg/s,
      cmd heading: 279.049257 deg,
      new cmd heading: 279.863428 deg.

2021-08-14T22:59:29.497Z,1628981969.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:59:29.881Z,1628981969.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:59:29.881Z,1628981969.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:59:29.881Z,1628981969.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:59:29.882Z,1628981969.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:59:30.277Z,1628981970.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,00438,184,80,80,9D,FF
2021-08-14T22:59:30.277Z,1628981970.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:59:30.277Z,1628981970.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:59:30.279Z,1628981970.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:59:30.689Z,1628981970.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:59:31.101Z,1628981971.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,0040C,187,80,80,8F,FF
2021-08-14T22:59:31.101Z,1628981971.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:59:31.122Z,1628981971.122 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T22:59:31.533Z,1628981971.533 [Micromodem](INFO): Nmea in: $SNTTA,0.018587,,,,225931.42*4B

2021-08-14T22:59:31.584Z,1628981971.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 290.150206 deg, deltaT: 4.431879 s, approachRate: -0.595685 m/s, LOS rate: 0.297362 deg/s, posRepo size: 4
2021-08-14T22:59:31.586Z,1628981971.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.659998 m,
      bearing: 290.150206 deg,
      approachRate: -0.595685 m/s,
      LOS rate: 0.297362 deg/s,
      cmd update: 1.189447 deg/s,
      cmd heading: 276.235623 deg,
      new cmd heading: 275.952862 deg.

2021-08-14T22:59:33.950Z,1628981973.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:59:34.318Z,1628981974.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:59:34.318Z,1628981974.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:59:34.318Z,1628981974.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:59:34.319Z,1628981974.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:59:34.717Z,1628981974.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,0040C,187,80,80,8F,FF
2021-08-14T22:59:34.717Z,1628981974.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:59:34.718Z,1628981974.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:59:34.719Z,1628981974.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:59:35.133Z,1628981975.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:59:35.537Z,1628981975.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,003D3,186,80,80,6A,FF
2021-08-14T22:59:35.537Z,1628981975.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:59:35.568Z,1628981975.568 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T22:59:36.017Z,1628981976.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225935.86*5A

2021-08-14T22:59:36.029Z,1628981976.029 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T22:59:36.043Z,1628981976.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.239996 m, bearing: 291.630964 deg, deltaT: 4.446628 s, approachRate: -0.769123 m/s, LOS rate: 0.333007 deg/s, posRepo size: 4
2021-08-14T22:59:36.049Z,1628981976.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.239996 m,
      bearing: 291.630964 deg,
      approachRate: -0.769123 m/s,
      LOS rate: 0.333007 deg/s,
      cmd update: 1.332028 deg/s,
      cmd heading: 281.524478 deg,
      new cmd heading: 282.093042 deg.

2021-08-14T22:59:38.410Z,1628981978.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:59:38.765Z,1628981978.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:59:38.765Z,1628981978.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:59:38.765Z,1628981978.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:59:38.766Z,1628981978.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:59:39.169Z,1628981979.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,003D3,186,80,80,6A,FF
2021-08-14T22:59:39.170Z,1628981979.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:59:39.170Z,1628981979.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:59:39.252Z,1628981979.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:59:39.581Z,1628981979.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:59:40.081Z,1628981980.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,003A2,187,80,80,A2,FF
2021-08-14T22:59:40.081Z,1628981980.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:59:40.159Z,1628981980.159 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T22:59:40.458Z,1628981980.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.299999 m, bearing: 288.736357 deg, deltaT: 4.590373 s, approachRate: -0.640470 m/s, LOS rate: -0.630582 deg/s, posRepo size: 4
2021-08-14T22:59:40.464Z,1628981980.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 288.736357 deg,
      approachRate: -0.640470 m/s,
      LOS rate: -0.630582 deg/s,
      cmd update: -2.522328 deg/s,
      cmd heading: 287.626470 deg,
      new cmd heading: 288.041869 deg.

2021-08-14T22:59:40.785Z,1628981980.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225940.39*5C

2021-08-14T22:59:42.818Z,1628981982.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:59:43.209Z,1628981983.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:59:43.209Z,1628981983.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:59:43.209Z,1628981983.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:59:43.210Z,1628981983.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:59:43.613Z,1628981983.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,003A2,187,80,80,A2,FF
2021-08-14T22:59:43.613Z,1628981983.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:59:43.613Z,1628981983.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:59:43.615Z,1628981983.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:59:44.056Z,1628981984.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:59:44.417Z,1628981984.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,0036F,184,80,80,51,FF
2021-08-14T22:59:44.418Z,1628981984.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:59:44.511Z,1628981984.511 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T22:59:44.858Z,1628981984.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225944.76*53

2021-08-14T22:59:44.880Z,1628981984.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.240002 m, bearing: 292.662186 deg, deltaT: 4.352277 s, approachRate: -0.703080 m/s, LOS rate: 0.902017 deg/s, posRepo size: 4
2021-08-14T22:59:44.882Z,1628981984.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.240002 m,
      bearing: 292.662186 deg,
      approachRate: -0.703080 m/s,
      LOS rate: 0.902017 deg/s,
      cmd update: 3.608069 deg/s,
      cmd heading: 276.643816 deg,
      new cmd heading: 275.685077 deg.

2021-08-14T22:59:46.103Z,1628981986.103 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T22:59:47.310Z,1628981987.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:59:47.649Z,1628981987.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:59:47.649Z,1628981987.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:59:47.650Z,1628981987.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:59:47.650Z,1628981987.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:59:48.053Z,1628981988.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,0036F,184,80,80,51,FF
2021-08-14T22:59:48.053Z,1628981988.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:59:48.053Z,1628981988.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:59:48.055Z,1628981988.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:59:48.459Z,1628981988.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:59:48.853Z,1628981988.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,0033F,187,80,80,63,FF
2021-08-14T22:59:48.854Z,1628981988.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:59:48.910Z,1628981988.910 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T22:59:49.298Z,1628981989.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225949.20*5D

2021-08-14T22:59:49.350Z,1628981989.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 300.465677 deg, deltaT: 4.399302 s, approachRate: -0.654649 m/s, LOS rate: 1.773802 deg/s, posRepo size: 4
2021-08-14T22:59:49.357Z,1628981989.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 300.465677 deg,
      approachRate: -0.654649 m/s,
      LOS rate: 1.773802 deg/s,
      cmd update: 7.095208 deg/s,
      cmd heading: 292.529977 deg,
      new cmd heading: 294.143098 deg.

2021-08-14T22:59:51.712Z,1628981991.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:59:52.093Z,1628981992.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:59:52.093Z,1628981992.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:59:52.093Z,1628981992.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:59:52.094Z,1628981992.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:59:52.497Z,1628981992.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,0033F,187,80,80,63,FF
2021-08-14T22:59:52.497Z,1628981992.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:59:52.497Z,1628981992.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:59:52.499Z,1628981992.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:59:52.896Z,1628981992.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:59:53.306Z,1628981993.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,00312,186,80,80,A1,FF
2021-08-14T22:59:53.307Z,1628981993.307 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:59:53.379Z,1628981993.379 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T22:59:53.742Z,1628981993.742 [Micromodem](INFO): Nmea in: $SNTTA,0.006197,,,,225953.64*41

2021-08-14T22:59:53.764Z,1628981993.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.660001 m, bearing: 294.644116 deg, deltaT: 4.468792 s, approachRate: -0.604190 m/s, LOS rate: -1.302715 deg/s, posRepo size: 4
2021-08-14T22:59:53.766Z,1628981993.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.660001 m,
      bearing: 294.644116 deg,
      approachRate: -0.604190 m/s,
      LOS rate: -1.302715 deg/s,
      cmd update: -5.210859 deg/s,
      cmd heading: 324.208301 deg,
      new cmd heading: 327.017287 deg.

2021-08-14T22:59:56.155Z,1628981996.155 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T22:59:56.214Z,1628981996.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T22:59:56.541Z,1628981996.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T22:59:56.541Z,1628981996.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T22:59:56.541Z,1628981996.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T22:59:56.542Z,1628981996.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T22:59:56.933Z,1628981996.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,00312,186,80,80,A1,FF
2021-08-14T22:59:56.933Z,1628981996.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T22:59:56.933Z,1628981996.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T22:59:56.935Z,1628981996.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T22:59:57.357Z,1628981997.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T22:59:57.749Z,1628981997.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,002E7,183,80,80,B4,FF
2021-08-14T22:59:57.749Z,1628981997.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T22:59:57.811Z,1628981997.811 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T22:59:58.218Z,1628981998.218 [Micromodem](INFO): Nmea in: $SNTTA,0.028402,,,,225958.08*45

2021-08-14T22:59:58.285Z,1628981998.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 303.197725 deg, deltaT: 4.436786 s, approachRate: -0.581502 m/s, LOS rate: 1.927884 deg/s, posRepo size: 4
2021-08-14T22:59:58.292Z,1628981998.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 303.197725 deg,
      approachRate: -0.581502 m/s,
      LOS rate: 1.927884 deg/s,
      cmd update: 7.711537 deg/s,
      cmd heading: 301.093169 deg,
      new cmd heading: 298.693307 deg.

2021-08-14T23:00:00.611Z,1628982000.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:00:00.977Z,1628982000.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:00:00.977Z,1628982000.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:00:00.979Z,1628982000.979 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:00:01.012Z,1628982001.012 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:00:01.012Z,1628982001.012 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,002E7,183,80,80,B4,FF
2021-08-14T23:00:01.012Z,1628982001.012 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:00:01.013Z,1628982001.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:00:01.014Z,1628982001.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:00:01.390Z,1628982001.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:00:01.781Z,1628982001.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,002CF,187,80,80,97,FF
2021-08-14T23:00:01.782Z,1628982001.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:00:01.832Z,1628982001.832 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:00:02.233Z,1628982002.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230002.16*5A

2021-08-14T23:00:02.299Z,1628982002.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 319.357161 deg, deltaT: 4.016039 s, approachRate: -0.358563 m/s, LOS rate: 4.023725 deg/s, posRepo size: 4
2021-08-14T23:00:02.303Z,1628982002.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 319.357161 deg,
      approachRate: -0.358563 m/s,
      LOS rate: 4.023725 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 332.063365 deg,
      new cmd heading: 335.756652 deg.

2021-08-14T23:00:03.426Z,1628982003.426 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:00:04.354Z,1628982004.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:00:04.611Z,1628982004.611 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:00:04.611Z,1628982004.611 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:00:04.611Z,1628982004.611 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:00:04.612Z,1628982004.612 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:00:05.025Z,1628982005.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,002CF,187,80,80,97,FF
2021-08-14T23:00:05.025Z,1628982005.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:00:05.025Z,1628982005.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:00:05.027Z,1628982005.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:00:05.431Z,1628982005.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:00:05.825Z,1628982005.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35F,000,002C1,189,80,80,6F,FF
2021-08-14T23:00:05.826Z,1628982005.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:00:05.847Z,1628982005.847 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:00:06.290Z,1628982006.290 [Micromodem](INFO): Nmea in: $SNTTA,0.347559,,,,230006.17*48

2021-08-14T23:00:06.333Z,1628982006.333 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-14T23:00:06.380Z,1628982006.380 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T23:00:06.380Z,1628982006.380 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T23:00:06.380Z,1628982006.380 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T23:00:06.380Z,1628982006.380 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T23:00:06.381Z,1628982006.381 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T23:00:06.381Z,1628982006.381 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.800000 m 
2021-08-14T23:00:06.381Z,1628982006.381 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T23:00:06.381Z,1628982006.381 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T23:00:06.382Z,1628982006.382 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T23:00:06.388Z,1628982006.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.800000 m, bearing: 273.470447 deg, deltaT: 4.014935 s, approachRate: -0.209218 m/s, LOS rate: -11.429005 deg/s, posRepo size: 4
2021-08-14T23:00:06.390Z,1628982006.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 273.470447 deg,
      approachRate: -0.209218 m/s,
      LOS rate: -11.429005 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 20.346146 deg,
      new cmd heading: 26.834966 deg.

2021-08-14T23:00:06.667Z,1628982006.667 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T230006: (41.552319, -70.708603)
2021-08-14T23:00:06.667Z,1628982006.667 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T23:00:06.667Z,1628982006.667 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T23:00:06.667Z,1628982006.667 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T23:00:06.667Z,1628982006.667 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T23:00:06.667Z,1628982006.667 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T23:00:06.667Z,1628982006.667 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T23:00:06.667Z,1628982006.667 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T23:00:06.668Z,1628982006.668 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T23:00:07.075Z,1628982007.075 [UniversalFixResidualReporter](INFO): Fix residual: 10.9 %DT, over the last 1385.6 m. Residual distance 151.5 m at bearing 55.7 degrees. Fix at (41.5521, -70.7022) with 531.1 m made good.
2021-08-14T23:00:08.368Z,1628982008.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:00:08.649Z,1628982008.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:00:08.649Z,1628982008.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:00:08.649Z,1628982008.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:00:08.650Z,1628982008.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:00:09.057Z,1628982009.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35F,000,002C1,189,80,80,6F,FF
2021-08-14T23:00:09.057Z,1628982009.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:00:09.057Z,1628982009.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:00:09.059Z,1628982009.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:00:09.477Z,1628982009.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:00:09.861Z,1628982009.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,002EB,187,80,80,5F,FF
2021-08-14T23:00:09.862Z,1628982009.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:00:09.882Z,1628982009.882 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:00:10.315Z,1628982010.315 [Micromodem](INFO): Nmea in: $SNTTA,,0.023301,,,230010.20*41

2021-08-14T23:00:10.400Z,1628982010.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.320000 m, bearing: 337.211002 deg, deltaT: 4.035181 s, approachRate: 0.624507 m/s, LOS rate: 15.796208 deg/s, posRepo size: 4
2021-08-14T23:00:10.401Z,1628982010.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.796208 deg/s. Setting heading cmd to target bearing of 337.211002deg and heading rate command to 0 deg/s.
2021-08-14T23:00:12.727Z,1628982012.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:00:13.093Z,1628982013.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:00:13.093Z,1628982013.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:00:13.093Z,1628982013.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:00:13.094Z,1628982013.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:00:13.497Z,1628982013.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,002EB,187,80,80,5F,FF
2021-08-14T23:00:13.497Z,1628982013.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:00:13.497Z,1628982013.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:00:13.499Z,1628982013.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:00:13.904Z,1628982013.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:00:14.318Z,1628982014.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,002EA,184,80,80,3E,FF
2021-08-14T23:00:14.318Z,1628982014.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:00:14.429Z,1628982014.429 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:00:14.741Z,1628982014.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230014.64*58

2021-08-14T23:00:14.785Z,1628982014.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.259999 m, bearing: 323.620701 deg, deltaT: 4.547622 s, approachRate: -0.013194 m/s, LOS rate: -2.988441 deg/s, posRepo size: 4
2021-08-14T23:00:14.786Z,1628982014.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 323.620701 deg,
      approachRate: -0.013194 m/s,
      LOS rate: -2.988441 deg/s,
      cmd update: -11.953764 deg/s,
      cmd heading: 337.211002 deg,
      new cmd heading: 337.211002 deg.

2021-08-14T23:00:17.157Z,1628982017.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:00:17.541Z,1628982017.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:00:17.542Z,1628982017.542 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:00:17.542Z,1628982017.542 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:00:17.543Z,1628982017.543 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:00:17.960Z,1628982017.960 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,002EA,184,80,80,3E,FF
2021-08-14T23:00:17.961Z,1628982017.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:00:17.962Z,1628982017.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:00:17.986Z,1628982017.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:00:18.365Z,1628982018.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:00:18.741Z,1628982018.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,0032B,186,80,80,76,FF
2021-08-14T23:00:18.742Z,1628982018.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:00:18.790Z,1628982018.790 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:00:19.173Z,1628982019.173 [Micromodem](INFO): Nmea in: $SNTTA,0.023527,,,,230019.13*4A

2021-08-14T23:00:19.249Z,1628982019.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.159998 m, bearing: 322.701768 deg, deltaT: 4.361077 s, approachRate: 0.894274 m/s, LOS rate: -0.210713 deg/s, posRepo size: 4
2021-08-14T23:00:19.251Z,1628982019.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 322.701768 deg,
      approachRate: 0.894274 m/s,
      LOS rate: -0.210713 deg/s,
      cmd update: -0.842850 deg/s,
      cmd heading: 285.095053 deg,
      new cmd heading: 279.537604 deg.

2021-08-14T23:00:21.603Z,1628982021.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:00:22.009Z,1628982022.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:00:22.009Z,1628982022.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:00:22.010Z,1628982022.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:00:22.010Z,1628982022.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:00:22.393Z,1628982022.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,0032B,186,80,80,76,FF
2021-08-14T23:00:22.393Z,1628982022.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:00:22.393Z,1628982022.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:00:22.395Z,1628982022.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:00:22.797Z,1628982022.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:00:23.210Z,1628982023.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2D,000,00358,187,80,80,40,FF
2021-08-14T23:00:23.210Z,1628982023.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:00:23.246Z,1628982023.246 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:00:23.637Z,1628982023.637 [Micromodem](INFO): Nmea in: $SNTTA,0.038105,,,,230023.54*4E

2021-08-14T23:00:23.659Z,1628982023.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.860000 m, bearing: 336.483696 deg, deltaT: 4.455294 s, approachRate: 0.606021 m/s, LOS rate: 3.093382 deg/s, posRepo size: 4
2021-08-14T23:00:23.662Z,1628982023.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 336.483696 deg,
      approachRate: 0.606021 m/s,
      LOS rate: 3.093382 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 281.336522 deg,
      new cmd heading: 280.985334 deg.

2021-08-14T23:00:26.111Z,1628982026.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:00:26.425Z,1628982026.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:00:26.425Z,1628982026.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:00:26.425Z,1628982026.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:00:26.426Z,1628982026.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:00:26.825Z,1628982026.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2D,000,00358,187,80,80,40,FF
2021-08-14T23:00:26.825Z,1628982026.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:00:26.825Z,1628982026.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:00:26.827Z,1628982026.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:00:27.269Z,1628982027.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:00:27.633Z,1628982027.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,00381,186,80,80,64,FF
2021-08-14T23:00:27.634Z,1628982027.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:00:27.654Z,1628982027.654 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:00:28.081Z,1628982028.081 [Micromodem](INFO): Nmea in: $SNTTA,0.053431,,,,230027.97*4A

2021-08-14T23:00:28.161Z,1628982028.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.319998 m, bearing: 324.129660 deg, deltaT: 4.408244 s, approachRate: 0.558045 m/s, LOS rate: -2.802485 deg/s, posRepo size: 4
2021-08-14T23:00:28.179Z,1628982028.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.319998 m,
      bearing: 324.129660 deg,
      approachRate: 0.558045 m/s,
      LOS rate: -2.802485 deg/s,
      cmd update: -11.209939 deg/s,
      cmd heading: 334.235883 deg,
      new cmd heading: 340.160439 deg.

2021-08-14T23:00:30.506Z,1628982030.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:00:30.865Z,1628982030.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:00:30.865Z,1628982030.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:00:30.865Z,1628982030.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:00:30.866Z,1628982030.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:00:31.273Z,1628982031.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,00381,186,80,80,64,FF
2021-08-14T23:00:31.273Z,1628982031.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:00:31.273Z,1628982031.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:00:31.275Z,1628982031.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:00:31.676Z,1628982031.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:00:32.081Z,1628982032.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AA,000,003A1,186,80,80,73,FF
2021-08-14T23:00:32.081Z,1628982032.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:00:32.194Z,1628982032.194 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:00:32.517Z,1628982032.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230032.42*58

2021-08-14T23:00:32.559Z,1628982032.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 286.044743 deg, deltaT: 4.545352 s, approachRate: 0.422410 m/s, LOS rate: -8.378871 deg/s, posRepo size: 4
2021-08-14T23:00:32.560Z,1628982032.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.24 m. Rolling out.
2021-08-14T23:00:32.560Z,1628982032.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T23:00:34.943Z,1628982034.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:00:35.308Z,1628982035.308 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:00:35.308Z,1628982035.308 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:00:35.309Z,1628982035.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:00:35.310Z,1628982035.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:00:35.709Z,1628982035.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AA,000,003A1,186,80,80,73,FF
2021-08-14T23:00:35.709Z,1628982035.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:00:35.710Z,1628982035.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:00:35.711Z,1628982035.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:00:36.133Z,1628982036.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:00:36.517Z,1628982036.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF8,000,003E5,187,80,80,42,FF
2021-08-14T23:00:36.518Z,1628982036.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:00:36.567Z,1628982036.567 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:00:36.969Z,1628982036.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230036.85*57

2021-08-14T23:00:36.992Z,1628982036.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 333.697717 deg, deltaT: 4.367209 s, approachRate: 0.934235 m/s, LOS rate: 10.911540 deg/s, posRepo size: 4
2021-08-14T23:00:39.391Z,1628982039.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:00:39.753Z,1628982039.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:00:39.753Z,1628982039.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:00:39.753Z,1628982039.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:00:39.754Z,1628982039.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:00:40.157Z,1628982040.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF8,000,003E5,187,80,80,42,FF
2021-08-14T23:00:40.157Z,1628982040.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:00:40.157Z,1628982040.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:00:40.159Z,1628982040.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:00:40.565Z,1628982040.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:00:40.974Z,1628982040.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,0041B,186,80,80,70,FF
2021-08-14T23:00:40.974Z,1628982040.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:00:40.995Z,1628982040.995 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:00:41.417Z,1628982041.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230041.30*59

2021-08-14T23:00:41.443Z,1628982041.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.560001 m, bearing: 303.080847 deg, deltaT: 4.427991 s, approachRate: 0.731709 m/s, LOS rate: -6.914393 deg/s, posRepo size: 4
2021-08-14T23:00:43.819Z,1628982043.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:00:44.216Z,1628982044.216 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:00:44.216Z,1628982044.216 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:00:44.217Z,1628982044.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:00:44.217Z,1628982044.217 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:00:44.225Z,1628982044.225 [PowerOnly](INFO): Powering down loadControl
2021-08-14T23:00:44.605Z,1628982044.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,0041B,186,80,80,70,FF
2021-08-14T23:00:44.605Z,1628982044.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:00:44.606Z,1628982044.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:00:44.607Z,1628982044.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:00:45.013Z,1628982045.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:00:45.424Z,1628982045.424 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,00448,186,80,80,80,FF
2021-08-14T23:00:45.425Z,1628982045.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:00:45.454Z,1628982045.454 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:00:45.850Z,1628982045.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230045.75*5C

2021-08-14T23:00:45.866Z,1628982045.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.259996 m, bearing: 301.768057 deg, deltaT: 4.459761 s, approachRate: 0.605412 m/s, LOS rate: -0.294363 deg/s, posRepo size: 4
2021-08-14T23:00:48.341Z,1628982048.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:00:48.649Z,1628982048.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:00:48.649Z,1628982048.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:00:48.649Z,1628982048.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:00:48.650Z,1628982048.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:00:49.050Z,1628982049.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4F,000,00448,186,80,80,80,FF
2021-08-14T23:00:49.050Z,1628982049.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:00:49.050Z,1628982049.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:00:49.051Z,1628982049.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:00:49.464Z,1628982049.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:00:49.853Z,1628982049.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE0,000,00475,186,80,80,77,FF
2021-08-14T23:00:49.854Z,1628982049.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:00:49.958Z,1628982049.958 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:00:50.281Z,1628982050.281 [Micromodem](INFO): Nmea in: $SNTTA,0.048191,0.399356,,,230050.20*5E

2021-08-14T23:00:50.355Z,1628982050.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.959999 m, bearing: 302.854904 deg, deltaT: 4.509051 s, approachRate: 0.598796 m/s, LOS rate: 0.241037 deg/s, posRepo size: 4
2021-08-14T23:00:52.727Z,1628982052.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:00:53.081Z,1628982053.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:00:53.081Z,1628982053.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:00:53.081Z,1628982053.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:00:53.082Z,1628982053.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:00:53.503Z,1628982053.503 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE0,000,00475,186,80,80,77,FF
2021-08-14T23:00:53.503Z,1628982053.503 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:00:53.503Z,1628982053.503 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:00:53.505Z,1628982053.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:00:53.897Z,1628982053.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:00:54.306Z,1628982054.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,004AE,186,80,80,8E,FF
2021-08-14T23:00:54.306Z,1628982054.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:00:54.315Z,1628982054.315 [Micromodem](INFO): Nmea in: $SNTTA,0.083140,0.133878,,,230054.65*55

2021-08-14T23:00:54.434Z,1628982054.434 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:00:54.735Z,1628982054.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.379997 m, bearing: 297.929682 deg, deltaT: 4.470948 s, approachRate: 0.764938 m/s, LOS rate: -1.101606 deg/s, posRepo size: 4
2021-08-14T23:00:57.160Z,1628982057.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:00:57.533Z,1628982057.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:00:57.533Z,1628982057.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:00:57.534Z,1628982057.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:00:57.535Z,1628982057.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:00:57.943Z,1628982057.943 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,004AE,186,80,80,8E,FF
2021-08-14T23:00:57.943Z,1628982057.943 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:00:57.944Z,1628982057.944 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:00:57.953Z,1628982057.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:00:58.374Z,1628982058.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:00:58.749Z,1628982058.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA8,000,004DD,186,80,80,5F,FF
2021-08-14T23:00:58.750Z,1628982058.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:00:58.769Z,1628982058.769 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:00:59.185Z,1628982059.185 [Micromodem](INFO): Nmea in: $SNTTA,0.412480,,,,230059.10*47

2021-08-14T23:00:59.239Z,1628982059.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.200001 m, bearing: 305.170639 deg, deltaT: 4.334850 s, approachRate: 0.650542 m/s, LOS rate: 1.670405 deg/s, posRepo size: 4
2021-08-14T23:01:01.632Z,1628982061.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:01:01.996Z,1628982061.996 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:01:02.007Z,1628982062.007 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:01:02.008Z,1628982062.008 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:01:02.009Z,1628982062.009 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:01:02.377Z,1628982062.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA8,000,004DD,186,80,80,5F,FF
2021-08-14T23:01:02.377Z,1628982062.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:01:02.377Z,1628982062.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:01:02.381Z,1628982062.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:01:02.794Z,1628982062.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:01:03.198Z,1628982063.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,00516,186,80,80,90,FF
2021-08-14T23:01:03.199Z,1628982063.199 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:01:03.294Z,1628982063.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:01:03.637Z,1628982063.637 [Micromodem](INFO): Nmea in: $SNTTA,0.048144,,,,230103.52*49

2021-08-14T23:01:03.659Z,1628982063.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.620003 m, bearing: 302.683303 deg, deltaT: 4.524611 s, approachRate: 0.755867 m/s, LOS rate: -0.549735 deg/s, posRepo size: 4
2021-08-14T23:01:04.105Z,1628982064.105 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T23:01:04.105Z,1628982064.105 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T23:01:04.105Z,1628982064.105 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T23:01:04.106Z,1628982064.106 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T23:01:04.106Z,1628982064.106 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T23:01:04.106Z,1628982064.106 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T23:01:04.443Z,1628982064.443 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T23:01:04.443Z,1628982064.443 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T23:01:04.443Z,1628982064.443 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T23:01:04.443Z,1628982064.443 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T23:01:06.112Z,1628982066.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:01:06.425Z,1628982066.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:01:06.425Z,1628982066.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:01:06.425Z,1628982066.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:01:06.426Z,1628982066.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:01:06.821Z,1628982066.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,00516,186,80,80,90,FF
2021-08-14T23:01:06.821Z,1628982066.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:01:06.821Z,1628982066.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:01:06.823Z,1628982066.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:01:07.245Z,1628982067.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:01:07.637Z,1628982067.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,00549,186,80,80,74,FF
2021-08-14T23:01:07.638Z,1628982067.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:01:08.079Z,1628982068.079 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230107.97*57

2021-08-14T23:01:08.155Z,1628982068.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.680000 m, bearing: 308.970847 deg, deltaT: 4.363337 s, approachRate: 0.701298 m/s, LOS rate: 1.440994 deg/s, posRepo size: 4
2021-08-14T23:01:10.524Z,1628982070.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:01:10.861Z,1628982070.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:01:10.861Z,1628982070.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:01:10.861Z,1628982070.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:01:10.862Z,1628982070.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:01:11.273Z,1628982071.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E72,000,00549,186,80,80,74,FF
2021-08-14T23:01:11.273Z,1628982071.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:01:11.273Z,1628982071.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:01:11.275Z,1628982071.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:01:11.673Z,1628982071.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:01:12.077Z,1628982072.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EA,000,00580,189,80,80,65,FF
2021-08-14T23:01:12.078Z,1628982072.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:01:12.533Z,1628982072.533 [Micromodem](INFO): Nmea in: $SNTTA,0.054930,,,,230112.42*4E

2021-08-14T23:01:12.559Z,1628982072.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.979996 m, bearing: 251.292632 deg, deltaT: 4.510852 s, approachRate: 0.731568 m/s, LOS rate: -12.786546 deg/s, posRepo size: 4
2021-08-14T23:01:14.931Z,1628982074.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:01:15.306Z,1628982075.306 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:01:15.306Z,1628982075.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:01:15.306Z,1628982075.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:01:15.307Z,1628982075.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:01:15.709Z,1628982075.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EA,000,00580,189,80,80,65,FF
2021-08-14T23:01:15.710Z,1628982075.710 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:01:15.710Z,1628982075.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:01:15.711Z,1628982075.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:01:16.121Z,1628982076.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:01:16.525Z,1628982076.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,005B4,186,80,80,79,FF
2021-08-14T23:01:16.525Z,1628982076.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:01:16.961Z,1628982076.961 [Micromodem](INFO): Nmea in: $SNTTA,0.081000,,,,230116.85*43

2021-08-14T23:01:16.984Z,1628982076.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.099998 m, bearing: 310.045700 deg, deltaT: 4.376854 s, approachRate: 0.712841 m/s, LOS rate: 13.423584 deg/s, posRepo size: 4
2021-08-14T23:01:19.382Z,1628982079.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:01:19.749Z,1628982079.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:01:19.749Z,1628982079.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:01:19.749Z,1628982079.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:01:19.750Z,1628982079.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:01:20.153Z,1628982080.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,005B4,186,80,80,79,FF
2021-08-14T23:01:20.153Z,1628982080.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:01:20.153Z,1628982080.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:01:20.155Z,1628982080.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:01:20.561Z,1628982080.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:01:20.969Z,1628982080.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AB,000,005ED,189,80,80,73,FF
2021-08-14T23:01:20.970Z,1628982080.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:01:21.405Z,1628982081.405 [Micromodem](INFO): Nmea in: $SNTTA,0.051811,,,,230121.30*4C

2021-08-14T23:01:21.455Z,1628982081.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.519993 m, bearing: 255.405690 deg, deltaT: 4.444185 s, approachRate: 0.769544 m/s, LOS rate: -12.294720 deg/s, posRepo size: 4
2021-08-14T23:01:23.807Z,1628982083.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:01:24.213Z,1628982084.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:01:24.213Z,1628982084.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:01:24.213Z,1628982084.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:01:24.214Z,1628982084.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:01:24.597Z,1628982084.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AB,000,005ED,189,80,80,73,FF
2021-08-14T23:01:24.597Z,1628982084.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:01:24.597Z,1628982084.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:01:24.599Z,1628982084.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:01:25.004Z,1628982085.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:01:25.414Z,1628982085.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D3,000,00621,189,80,80,6A,FF
2021-08-14T23:01:25.414Z,1628982085.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:01:25.845Z,1628982085.845 [Micromodem](INFO): Nmea in: $SNTTA,0.168690,,,,230125.74*44

2021-08-14T23:01:25.867Z,1628982085.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.640007 m, bearing: 252.670855 deg, deltaT: 4.454706 s, approachRate: 0.700386 m/s, LOS rate: -0.613920 deg/s, posRepo size: 4
2021-08-14T23:01:28.319Z,1628982088.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:01:28.645Z,1628982088.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:01:28.645Z,1628982088.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:01:28.646Z,1628982088.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:01:28.647Z,1628982088.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:01:29.041Z,1628982089.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D3,000,00621,189,80,80,6A,FF
2021-08-14T23:01:29.041Z,1628982089.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:01:29.042Z,1628982089.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:01:29.043Z,1628982089.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:01:29.449Z,1628982089.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:01:29.857Z,1628982089.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,00658,186,80,80,56,FF
2021-08-14T23:01:29.858Z,1628982089.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:01:30.290Z,1628982090.290 [Micromodem](INFO): Nmea in: $SNTTA,0.063759,,,,230130.19*45

2021-08-14T23:01:30.378Z,1628982090.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.940006 m, bearing: 310.233230 deg, deltaT: 4.482647 s, approachRate: 0.736172 m/s, LOS rate: 12.841158 deg/s, posRepo size: 4
2021-08-14T23:01:32.695Z,1628982092.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:01:33.081Z,1628982093.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:01:33.081Z,1628982093.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:01:33.081Z,1628982093.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:01:33.082Z,1628982093.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:01:33.501Z,1628982093.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,00658,186,80,80,56,FF
2021-08-14T23:01:33.501Z,1628982093.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:01:33.501Z,1628982093.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:01:33.503Z,1628982093.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:01:33.893Z,1628982093.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:01:34.298Z,1628982094.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,354,000,0068E,189,80,80,4B,FF
2021-08-14T23:01:34.298Z,1628982094.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:01:34.303Z,1628982094.303 [Micromodem](INFO): Nmea in: $SNTTA,0.047245,0.173167,,,230134.65*5F

2021-08-14T23:01:34.749Z,1628982094.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.180004 m, bearing: 245.691795 deg, deltaT: 4.471009 s, approachRate: 0.724668 m/s, LOS rate: -14.435542 deg/s, posRepo size: 4
2021-08-14T23:01:37.147Z,1628982097.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:01:37.529Z,1628982097.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:01:37.529Z,1628982097.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:01:37.530Z,1628982097.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:01:37.531Z,1628982097.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:01:37.950Z,1628982097.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
354,000,0068E,189,80,80,4B,FF
2021-08-14T23:01:37.951Z,1628982097.951 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:01:37.951Z,1628982097.951 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:01:37.969Z,1628982097.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:01:38.348Z,1628982098.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:01:38.737Z,1628982098.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27A,000,006CB,18A,80,80,8E,FF
2021-08-14T23:01:38.737Z,1628982098.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:01:39.186Z,1628982099.186 [Micromodem](INFO): Nmea in: $SNTTA,0.053342,,,,230139.11*49

2021-08-14T23:01:39.245Z,1628982099.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.840004 m, bearing: 257.322350 deg, deltaT: 4.387418 s, approachRate: 0.834204 m/s, LOS rate: 2.650888 deg/s, posRepo size: 4
2021-08-14T23:01:41.606Z,1628982101.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:01:42.001Z,1628982102.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:01:42.001Z,1628982102.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:01:42.002Z,1628982102.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:01:42.003Z,1628982102.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:01:42.373Z,1628982102.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27A,000,006CB,18A,80,80,8E,FF
2021-08-14T23:01:42.373Z,1628982102.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:01:42.373Z,1628982102.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:01:42.375Z,1628982102.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:01:42.792Z,1628982102.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:01:43.189Z,1628982103.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D6,000,006FC,189,80,80,6A,FF
2021-08-14T23:01:43.190Z,1628982103.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:01:43.637Z,1628982103.637 [Micromodem](INFO): Nmea in: $SNTTA,0.052134,,,,230143.52*41

2021-08-14T23:01:43.660Z,1628982103.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.780006 m, bearing: 252.358196 deg, deltaT: 4.485835 s, approachRate: 0.655397 m/s, LOS rate: -1.106629 deg/s, posRepo size: 4
2021-08-14T23:01:45.577Z,1628982105.577 [CTD_Seabird](ERROR): Failed to parse device response: 5.82,24.2757,4.728.04
2021-08-14T23:01:46.140Z,1628982106.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:01:46.425Z,1628982106.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:01:46.425Z,1628982106.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:01:46.425Z,1628982106.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:01:46.426Z,1628982106.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:01:46.817Z,1628982106.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D6,000,006FC,189,80,80,6A,FF
2021-08-14T23:01:46.817Z,1628982106.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:01:46.817Z,1628982106.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:01:46.819Z,1628982106.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:01:47.245Z,1628982107.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:01:47.633Z,1628982107.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26C,000,00736,189,80,80,88,FF
2021-08-14T23:01:47.634Z,1628982107.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:01:48.077Z,1628982108.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230147.96*52

2021-08-14T23:01:48.137Z,1628982108.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.260002 m, bearing: 257.639489 deg, deltaT: 4.405028 s, approachRate: 0.790005 m/s, LOS rate: 1.198924 deg/s, posRepo size: 4
2021-08-14T23:01:50.500Z,1628982110.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:01:50.865Z,1628982110.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:01:50.865Z,1628982110.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:01:50.865Z,1628982110.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:01:50.866Z,1628982110.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:01:51.278Z,1628982111.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26C,000,00736,189,80,80,88,FF
2021-08-14T23:01:51.278Z,1628982111.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:01:51.278Z,1628982111.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:01:51.280Z,1628982111.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:01:51.668Z,1628982111.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:01:52.077Z,1628982112.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29B,000,00769,18A,80,80,67,FF
2021-08-14T23:01:52.078Z,1628982112.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:01:52.501Z,1628982112.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230152.42*5F

2021-08-14T23:01:52.547Z,1628982112.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.320000 m, bearing: 255.406181 deg, deltaT: 4.478097 s, approachRate: 0.683325 m/s, LOS rate: -0.498718 deg/s, posRepo size: 4
2021-08-14T23:01:54.931Z,1628982114.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:01:55.311Z,1628982115.311 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:01:55.311Z,1628982115.311 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:01:55.311Z,1628982115.311 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:01:55.312Z,1628982115.312 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:01:55.705Z,1628982115.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29B,000,00769,18A,80,80,67,FF
2021-08-14T23:01:55.705Z,1628982115.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:01:55.705Z,1628982115.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:01:55.707Z,1628982115.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:01:56.195Z,1628982116.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:01:56.513Z,1628982116.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,007A1,187,80,80,3E,FF
2021-08-14T23:01:56.514Z,1628982116.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:01:56.961Z,1628982116.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230156.85*50

2021-08-14T23:01:56.983Z,1628982116.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.680000 m, bearing: 314.880573 deg, deltaT: 4.419396 s, approachRate: 0.760285 m/s, LOS rate: 13.457584 deg/s, posRepo size: 4
2021-08-14T23:01:59.417Z,1628982119.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:01:59.745Z,1628982119.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:01:59.745Z,1628982119.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:01:59.745Z,1628982119.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:01:59.746Z,1628982119.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:02:00.153Z,1628982120.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,007A1,187,80,80,3E,FF
2021-08-14T23:02:00.153Z,1628982120.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:02:00.153Z,1628982120.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:02:00.157Z,1628982120.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:02:00.565Z,1628982120.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:02:00.958Z,1628982120.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26C,000,007D9,18A,80,80,7C,FF
2021-08-14T23:02:00.959Z,1628982120.959 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:02:01.401Z,1628982121.401 [Micromodem](INFO): Nmea in: $SNTTA,0.061944,,,,230201.30*4F

2021-08-14T23:02:01.464Z,1628982121.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.040009 m, bearing: 257.654434 deg, deltaT: 4.466916 s, approachRate: 0.752199 m/s, LOS rate: -12.811107 deg/s, posRepo size: 4
2021-08-14T23:02:03.803Z,1628982123.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:02:04.202Z,1628982124.202 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:02:04.202Z,1628982124.202 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:02:04.202Z,1628982124.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:02:04.203Z,1628982124.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:02:04.601Z,1628982124.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26C,000,007D9,18A,80,80,7C,FF
2021-08-14T23:02:04.601Z,1628982124.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:02:04.601Z,1628982124.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:02:04.603Z,1628982124.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:02:05.009Z,1628982125.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:02:05.405Z,1628982125.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,00810,189,80,80,5C,FF
2021-08-14T23:02:05.405Z,1628982125.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:02:05.850Z,1628982125.850 [Micromodem](INFO): Nmea in: $SNTTA,0.067676,,,,230205.75*42

2021-08-14T23:02:05.901Z,1628982125.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.340004 m, bearing: 258.030203 deg, deltaT: 4.435828 s, approachRate: 0.743941 m/s, LOS rate: 0.084712 deg/s, posRepo size: 4
2021-08-14T23:02:08.313Z,1628982128.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:02:08.629Z,1628982128.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:02:08.629Z,1628982128.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:02:08.629Z,1628982128.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:02:08.630Z,1628982128.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:02:09.045Z,1628982129.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24E,000,00810,189,80,80,5C,FF
2021-08-14T23:02:09.045Z,1628982129.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:02:09.045Z,1628982129.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:02:09.047Z,1628982129.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:02:09.445Z,1628982129.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:02:09.850Z,1628982129.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,259,000,00844,188,80,80,7E,FF
2021-08-14T23:02:09.850Z,1628982129.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:02:10.285Z,1628982130.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230210.19*54

2021-08-14T23:02:10.356Z,1628982130.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.459999 m, bearing: 258.566455 deg, deltaT: 4.398306 s, approachRate: 0.709363 m/s, LOS rate: 0.121922 deg/s, posRepo size: 4
2021-08-14T23:02:12.694Z,1628982132.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:02:13.085Z,1628982133.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:02:13.085Z,1628982133.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:02:13.086Z,1628982133.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:02:13.086Z,1628982133.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:02:13.481Z,1628982133.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
259,000,00844,188,80,80,7E,FF
2021-08-14T23:02:13.481Z,1628982133.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:02:13.481Z,1628982133.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:02:13.483Z,1628982133.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:02:13.897Z,1628982133.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:02:14.305Z,1628982134.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,296,000,0087B,18A,80,80,80,FF
2021-08-14T23:02:14.305Z,1628982134.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:02:14.733Z,1628982134.733 [Micromodem](INFO): Nmea in: $SNTTA,0.118301,,,,230214.63*49

2021-08-14T23:02:14.776Z,1628982134.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.759995 m, bearing: 254.772586 deg, deltaT: 4.530613 s, approachRate: 0.728377 m/s, LOS rate: -0.837385 deg/s, posRepo size: 4
2021-08-14T23:02:17.135Z,1628982137.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:02:17.521Z,1628982137.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:02:17.521Z,1628982137.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:02:17.521Z,1628982137.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:02:17.522Z,1628982137.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:02:17.925Z,1628982137.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
296,000,0087B,18A,80,80,80,FF
2021-08-14T23:02:17.925Z,1628982137.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:02:17.926Z,1628982137.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:02:17.927Z,1628982137.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:02:18.336Z,1628982138.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:02:18.745Z,1628982138.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,008B4,189,80,80,79,FF
2021-08-14T23:02:18.745Z,1628982138.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:02:19.180Z,1628982139.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230219.07*52

2021-08-14T23:02:19.229Z,1628982139.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.180000 m, bearing: 256.866694 deg, deltaT: 4.377222 s, approachRate: 0.781319 m/s, LOS rate: 0.478410 deg/s, posRepo size: 4
2021-08-14T23:02:21.589Z,1628982141.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:02:21.992Z,1628982141.992 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:02:21.993Z,1628982141.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:02:21.993Z,1628982141.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:02:21.995Z,1628982141.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:02:22.373Z,1628982142.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,008B4,189,80,80,79,FF
2021-08-14T23:02:22.373Z,1628982142.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:02:22.373Z,1628982142.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:02:22.375Z,1628982142.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:02:22.790Z,1628982142.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:02:23.203Z,1628982143.203 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,008EC,189,80,80,7A,FF
2021-08-14T23:02:23.204Z,1628982143.204 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:02:23.621Z,1628982143.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230223.52*5B

2021-08-14T23:02:23.643Z,1628982143.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.540009 m, bearing: 259.708545 deg, deltaT: 4.492040 s, approachRate: 0.747992 m/s, LOS rate: 0.632641 deg/s, posRepo size: 4
2021-08-14T23:02:26.141Z,1628982146.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:02:26.413Z,1628982146.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:02:26.413Z,1628982146.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:02:26.413Z,1628982146.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:02:26.414Z,1628982146.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:02:26.818Z,1628982146.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,008EC,189,80,80,7A,FF
2021-08-14T23:02:26.818Z,1628982146.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:02:26.818Z,1628982146.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:02:26.820Z,1628982146.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:02:27.257Z,1628982147.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:02:27.625Z,1628982147.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23F,000,00927,188,80,80,50,FF
2021-08-14T23:02:27.626Z,1628982147.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:02:28.074Z,1628982148.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230227.97*56

2021-08-14T23:02:28.109Z,1628982148.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.079994 m, bearing: 259.862880 deg, deltaT: 4.371727 s, approachRate: 0.809745 m/s, LOS rate: 0.035303 deg/s, posRepo size: 4
2021-08-14T23:02:30.493Z,1628982150.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:02:30.853Z,1628982150.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:02:30.853Z,1628982150.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:02:30.853Z,1628982150.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:02:30.854Z,1628982150.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:02:31.257Z,1628982151.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23F,000,00927,188,80,80,50,FF
2021-08-14T23:02:31.257Z,1628982151.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:02:31.257Z,1628982151.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:02:31.259Z,1628982151.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:02:31.665Z,1628982151.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:02:32.097Z,1628982152.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B9,000,0095C,18A,80,80,4B,FF
2021-08-14T23:02:32.098Z,1628982152.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:02:32.101Z,1628982152.101 [Micromodem](INFO): Nmea in: $SNTTA,0.072803,0.292631,,,230232.41*5A

2021-08-14T23:02:32.508Z,1628982152.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.260002 m, bearing: 252.807786 deg, deltaT: 4.492777 s, approachRate: 0.707805 m/s, LOS rate: -1.570319 deg/s, posRepo size: 4
2021-08-14T23:02:34.915Z,1628982154.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:02:35.308Z,1628982155.308 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:02:35.308Z,1628982155.308 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:02:35.309Z,1628982155.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:02:35.309Z,1628982155.309 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:02:35.709Z,1628982155.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B9,000,0095C,18A,80,80,4B,FF
2021-08-14T23:02:35.709Z,1628982155.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:02:35.710Z,1628982155.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:02:35.711Z,1628982155.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:02:36.136Z,1628982156.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:02:36.938Z,1628982156.938 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230236.86*56

2021-08-14T23:02:37.755Z,1628982157.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:02:39.345Z,1628982159.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,18A,80,80,4B,FF
2021-08-14T23:02:39.345Z,1628982159.345 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,18A,80,80,4B,FF
2021-08-14T23:02:39.345Z,1628982159.345 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:02:40.586Z,1628982160.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:02:40.953Z,1628982160.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:02:40.953Z,1628982160.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:02:40.953Z,1628982160.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:02:40.954Z,1628982160.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:02:41.365Z,1628982161.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,18A,80,80,4B,FF
2021-08-14T23:02:41.365Z,1628982161.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:02:41.365Z,1628982161.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:02:41.367Z,1628982161.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:02:41.775Z,1628982161.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:02:42.173Z,1628982162.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,231,000,009DC,188,80,80,77,FF
2021-08-14T23:02:42.174Z,1628982162.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:02:42.605Z,1628982162.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230242.52*5C

2021-08-14T23:02:42.627Z,1628982162.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.940002 m, bearing: 259.260047 deg, deltaT: 10.178095 s, approachRate: 0.754562 m/s, LOS rate: 0.633936 deg/s, posRepo size: 4
2021-08-14T23:02:45.028Z,1628982165.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:02:45.393Z,1628982165.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:02:45.393Z,1628982165.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:02:45.393Z,1628982165.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:02:45.394Z,1628982165.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:02:45.825Z,1628982165.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
231,000,009DC,188,80,80,77,FF
2021-08-14T23:02:45.825Z,1628982165.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:02:45.825Z,1628982165.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:02:45.827Z,1628982165.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:02:46.241Z,1628982166.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:02:46.625Z,1628982166.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,235,000,00A13,189,80,80,8C,FF
2021-08-14T23:02:46.626Z,1628982166.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:02:47.042Z,1628982167.042 [Micromodem](INFO): Nmea in: $SNTTA,,0.010317,,,230246.97*4B

2021-08-14T23:02:47.058Z,1628982167.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.240005 m, bearing: 259.160135 deg, deltaT: 4.328036 s, approachRate: 0.762471 m/s, LOS rate: -0.023085 deg/s, posRepo size: 4
2021-08-14T23:02:49.465Z,1628982169.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:02:49.858Z,1628982169.858 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:02:49.859Z,1628982169.859 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:02:49.859Z,1628982169.859 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:02:49.860Z,1628982169.860 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:02:50.249Z,1628982170.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
235,000,00A13,189,80,80,8C,FF
2021-08-14T23:02:50.249Z,1628982170.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:02:50.249Z,1628982170.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:02:50.251Z,1628982170.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:02:50.666Z,1628982170.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:02:51.062Z,1628982171.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23E,000,00A48,189,80,80,84,FF
2021-08-14T23:02:51.062Z,1628982171.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:02:51.501Z,1628982171.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230251.40*5D

2021-08-14T23:02:51.552Z,1628982171.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.419998 m, bearing: 258.230629 deg, deltaT: 4.441294 s, approachRate: 0.716006 m/s, LOS rate: -0.209287 deg/s, posRepo size: 4
2021-08-14T23:02:53.966Z,1628982173.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:02:54.285Z,1628982174.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:02:54.286Z,1628982174.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:02:54.286Z,1628982174.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:02:54.287Z,1628982174.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:02:54.690Z,1628982174.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23E,000,00A48,189,80,80,84,FF
2021-08-14T23:02:54.690Z,1628982174.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:02:54.691Z,1628982174.691 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:02:54.694Z,1628982174.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:02:55.101Z,1628982175.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:02:55.506Z,1628982175.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,255,000,00A7F,188,80,80,52,FF
2021-08-14T23:02:55.506Z,1628982175.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:02:55.957Z,1628982175.957 [Micromodem](INFO): Nmea in: $SNTTA,0.102227,,,,230255.84*4B

2021-08-14T23:02:56.021Z,1628982176.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.720001 m, bearing: 257.166758 deg, deltaT: 4.493374 s, approachRate: 0.734415 m/s, LOS rate: -0.236764 deg/s, posRepo size: 4
2021-08-14T23:02:58.409Z,1628982178.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:02:58.729Z,1628982178.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:02:58.729Z,1628982178.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:02:58.729Z,1628982178.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:02:58.730Z,1628982178.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:02:59.133Z,1628982179.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
255,000,00A7F,188,80,80,52,FF
2021-08-14T23:02:59.133Z,1628982179.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:02:59.133Z,1628982179.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:02:59.135Z,1628982179.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:02:59.546Z,1628982179.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:02:59.977Z,1628982179.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,00AB8,188,80,80,8B,FF
2021-08-14T23:02:59.979Z,1628982179.979 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:03:00.002Z,1628982180.002 [Micromodem](INFO): Nmea in: $SNTTA,0.315659,0.314915,,,230300.28*50

2021-08-14T23:03:00.417Z,1628982180.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.140007 m, bearing: 259.963557 deg, deltaT: 4.503829 s, approachRate: 0.759355 m/s, LOS rate: 0.620982 deg/s, posRepo size: 4
2021-08-14T23:03:02.791Z,1628982182.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:03:03.187Z,1628982183.187 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:03:03.189Z,1628982183.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:03:03.190Z,1628982183.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:03:03.191Z,1628982183.191 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:03:03.577Z,1628982183.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21A,000,00AB8,188,80,80,8B,FF
2021-08-14T23:03:03.577Z,1628982183.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:03:03.577Z,1628982183.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:03:03.579Z,1628982183.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:03:04.022Z,1628982184.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:03:04.038Z,1628982184.038 [Micromodem](INFO): Nmea in: 33969,,,230304.72*5C

2021-08-14T23:03:04.039Z,1628982184.039 [Micromodem](ERROR): Response from modem failed NMEA checksum: 33969,,,230304.72*5C
 expected 0
2021-08-14T23:03:04.389Z,1628982184.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,00AED,189,80,80,83,FF
2021-08-14T23:03:04.389Z,1628982184.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:03:04.828Z,1628982184.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.319992 m, bearing: 255.382030 deg, deltaT: 4.362647 s, approachRate: 0.728912 m/s, LOS rate: -1.050171 deg/s, posRepo size: 4
2021-08-14T23:03:07.273Z,1628982187.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:03:07.617Z,1628982187.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:03:07.617Z,1628982187.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:03:07.617Z,1628982187.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:03:07.618Z,1628982187.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:03:08.045Z,1628982188.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,00AED,189,80,80,83,FF
2021-08-14T23:03:08.045Z,1628982188.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:03:08.045Z,1628982188.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:03:08.047Z,1628982188.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:03:08.429Z,1628982188.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:03:08.830Z,1628982188.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,00B25,188,80,80,83,FF
2021-08-14T23:03:08.830Z,1628982188.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:03:09.274Z,1628982189.274 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230309.19*5D

2021-08-14T23:03:09.308Z,1628982189.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.680008 m, bearing: 256.580974 deg, deltaT: 4.431284 s, approachRate: 0.758249 m/s, LOS rate: 0.270564 deg/s, posRepo size: 4
2021-08-14T23:03:11.671Z,1628982191.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:03:12.057Z,1628982192.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:03:12.057Z,1628982192.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:03:12.057Z,1628982192.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:03:12.058Z,1628982192.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:03:12.469Z,1628982192.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,00B25,188,80,80,83,FF
2021-08-14T23:03:12.470Z,1628982192.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:03:12.470Z,1628982192.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:03:12.472Z,1628982192.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:03:12.872Z,1628982192.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:03:13.273Z,1628982193.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F7,000,00B5C,186,80,80,79,FF
2021-08-14T23:03:13.274Z,1628982193.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:03:13.709Z,1628982193.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230313.62*5A

2021-08-14T23:03:13.751Z,1628982193.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.979996 m, bearing: 261.957945 deg, deltaT: 4.454316 s, approachRate: 0.740852 m/s, LOS rate: 1.207137 deg/s, posRepo size: 4
2021-08-14T23:03:16.221Z,1628982196.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:03:16.509Z,1628982196.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:03:16.509Z,1628982196.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:03:16.509Z,1628982196.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:03:16.510Z,1628982196.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:03:16.910Z,1628982196.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F7,000,00B5C,186,80,80,79,FF
2021-08-14T23:03:16.910Z,1628982196.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:03:16.910Z,1628982196.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:03:16.911Z,1628982196.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:03:17.322Z,1628982197.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:03:17.729Z,1628982197.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,239,000,00B93,189,80,80,60,FF
2021-08-14T23:03:17.730Z,1628982197.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:03:18.141Z,1628982198.141 [Micromodem](INFO): Nmea in: $SNTTA,0.427482,0.427569,,,230318.06*57

2021-08-14T23:03:18.246Z,1628982198.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.279999 m, bearing: 258.640440 deg, deltaT: 4.485938 s, approachRate: 0.735633 m/s, LOS rate: -0.739534 deg/s, posRepo size: 4
2021-08-14T23:03:20.562Z,1628982200.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:03:20.950Z,1628982200.950 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:03:20.950Z,1628982200.950 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:03:20.950Z,1628982200.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:03:20.951Z,1628982200.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:03:21.362Z,1628982201.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
239,000,00B93,189,80,80,60,FF
2021-08-14T23:03:21.362Z,1628982201.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:03:21.362Z,1628982201.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:03:21.364Z,1628982201.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:03:21.757Z,1628982201.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:03:22.155Z,1628982202.155 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,00BC8,189,80,80,60,FF
2021-08-14T23:03:22.156Z,1628982202.156 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:03:22.593Z,1628982202.593 [Micromodem](INFO): Nmea in: $SNTTA,0.109001,,,,230322.51*4F

2021-08-14T23:03:22.628Z,1628982202.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.460007 m, bearing: 256.551331 deg, deltaT: 4.451267 s, approachRate: 0.714405 m/s, LOS rate: -0.469329 deg/s, posRepo size: 4
2021-08-14T23:03:25.019Z,1628982205.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:03:25.393Z,1628982205.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:03:25.393Z,1628982205.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:03:25.393Z,1628982205.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:03:25.394Z,1628982205.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:03:25.793Z,1628982205.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,00BC8,189,80,80,60,FF
2021-08-14T23:03:25.793Z,1628982205.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:03:25.793Z,1628982205.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:03:25.795Z,1628982205.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:03:26.253Z,1628982206.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:03:26.304Z,1628982206.304 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:03:27.845Z,1628982207.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:03:29.037Z,1628982209.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,203,000,07B57,186,80,80,6D,FF
2021-08-14T23:03:29.038Z,1628982209.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:03:29.468Z,1628982209.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1857.000000 m, bearing: 261.737712 deg, deltaT: 6.812593 s, approachRate: 251.525375 m/s, LOS rate: 0.761293 deg/s, posRepo size: 4
2021-08-14T23:03:31.872Z,1628982211.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:03:32.257Z,1628982212.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:03:32.257Z,1628982212.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:03:32.257Z,1628982212.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:03:32.258Z,1628982212.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:03:32.665Z,1628982212.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
203,000,07B57,186,80,80,6D,FF
2021-08-14T23:03:32.665Z,1628982212.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:03:32.665Z,1628982212.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:03:32.667Z,1628982212.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:03:33.080Z,1628982213.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:03:33.898Z,1628982213.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230333.81*55

2021-08-14T23:03:34.714Z,1628982214.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:03:36.310Z,1628982216.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,6D,FF
2021-08-14T23:03:36.310Z,1628982216.310 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,6D,FF
2021-08-14T23:03:36.310Z,1628982216.310 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:03:36.361Z,1628982216.361 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:03:37.538Z,1628982217.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:03:37.909Z,1628982217.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:03:37.909Z,1628982217.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:03:37.909Z,1628982217.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:03:37.910Z,1628982217.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:03:38.325Z,1628982218.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,6D,FF
2021-08-14T23:03:38.325Z,1628982218.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:03:38.325Z,1628982218.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:03:38.327Z,1628982218.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:03:38.768Z,1628982218.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:03:39.182Z,1628982219.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,234,000,00C9D,189,80,80,3C,FF
2021-08-14T23:03:39.183Z,1628982219.183 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:03:39.597Z,1628982219.597 [Micromodem](INFO): Nmea in: $SNTTA,0.106808,,,,230339.47*4C

2021-08-14T23:03:39.630Z,1628982219.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.240005 m, bearing: 259.166610 deg, deltaT: 10.172213 s, approachRate: -167.196655 m/s, LOS rate: -0.252757 deg/s, posRepo size: 4
2021-08-14T23:03:41.261Z,1628982221.261 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:03:42.099Z,1628982222.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:03:42.405Z,1628982222.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:03:42.405Z,1628982222.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:03:42.405Z,1628982222.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:03:42.406Z,1628982222.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:03:42.807Z,1628982222.807 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
234,000,00C9D,189,80,80,3C,FF
2021-08-14T23:03:42.807Z,1628982222.807 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:03:42.807Z,1628982222.807 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:03:42.809Z,1628982222.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:03:43.241Z,1628982223.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:03:43.610Z,1628982223.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,00C9D,189,80,80,3C,FF
2021-08-14T23:03:43.610Z,1628982223.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:03:44.078Z,1628982224.078 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230343.96*54

2021-08-14T23:03:44.135Z,1628982224.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.240005 m, bearing: 254.114074 deg, deltaT: 4.382020 s, approachRate: 0.000000 m/s, LOS rate: -1.153015 deg/s, posRepo size: 4
2021-08-14T23:03:46.463Z,1628982226.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:03:46.857Z,1628982226.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:03:46.857Z,1628982226.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:03:46.857Z,1628982226.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:03:46.858Z,1628982226.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:03:47.245Z,1628982227.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,00C9D,189,80,80,3C,FF
2021-08-14T23:03:47.245Z,1628982227.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:03:47.245Z,1628982227.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:03:47.247Z,1628982227.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:03:47.316Z,1628982227.316 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:03:47.660Z,1628982227.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:03:48.083Z,1628982228.083 [Micromodem](INFO): Nmea in: $SNTTA,0.300731,0.300731,,,230348.39*5A

2021-08-14T23:03:49.332Z,1628982229.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:03:50.889Z,1628982230.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,3C,FF
2021-08-14T23:03:50.889Z,1628982230.889 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,3C,FF
2021-08-14T23:03:50.889Z,1628982230.889 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:03:51.319Z,1628982231.319 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T23:03:52.151Z,1628982232.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:03:52.513Z,1628982232.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:03:52.513Z,1628982232.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:03:52.513Z,1628982232.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:03:52.514Z,1628982232.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:03:52.905Z,1628982232.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,3C,FF
2021-08-14T23:03:52.905Z,1628982232.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:03:52.905Z,1628982232.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:03:52.907Z,1628982232.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:03:53.323Z,1628982233.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:03:53.710Z,1628982233.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20A,000,,E4
D,189,80,80,3C,FF
2021-08-14T23:03:53.710Z,1628982233.710 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,20A,000,,E4
D,189,80,80,3C,FF
2021-08-14T23:03:54.173Z,1628982234.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230354.05*58

2021-08-14T23:03:54.977Z,1628982234.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:03:57.770Z,1628982237.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:03:58.576Z,1628982238.576 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.061658
2021-08-14T23:04:00.642Z,1628982240.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:04:00.977Z,1628982240.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:04:00.977Z,1628982240.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:04:00.977Z,1628982240.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:04:00.978Z,1628982240.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:04:01.385Z,1628982241.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20A,000,,E4
D,189,80,80,3C,FF
2021-08-14T23:04:01.385Z,1628982241.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:04:01.386Z,1628982241.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:04:01.387Z,1628982241.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:04:01.448Z,1628982241.448 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T23:04:01.797Z,1628982241.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:04:02.230Z,1628982242.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,00DC9,186,80,80,66,FF
2021-08-14T23:04:02.230Z,1628982242.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:04:02.637Z,1628982242.637 [Micromodem](INFO): Nmea in: $SNTTA,,0.229127,,,230402.53*4C

2021-08-14T23:04:02.659Z,1628982242.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.239990 m, bearing: 265.759000 deg, deltaT: 18.716160 s, approachRate: 0.961735 m/s, LOS rate: 0.622186 deg/s, posRepo size: 4
2021-08-14T23:04:05.038Z,1628982245.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:04:05.425Z,1628982245.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:04:05.425Z,1628982245.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:04:05.425Z,1628982245.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:04:05.426Z,1628982245.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:04:05.837Z,1628982245.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C3,000,00DC9,186,80,80,66,FF
2021-08-14T23:04:05.837Z,1628982245.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:04:05.838Z,1628982245.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:04:05.839Z,1628982245.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:04:06.287Z,1628982246.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:04:06.648Z,1628982246.648 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,00DC9,186,80,80,66,FF
2021-08-14T23:04:06.649Z,1628982246.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:04:07.085Z,1628982247.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230406.98*5C

2021-08-14T23:04:07.158Z,1628982247.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.239990 m, bearing: 258.889168 deg, deltaT: 4.321968 s, approachRate: 0.000000 m/s, LOS rate: -1.589515 deg/s, posRepo size: 4
2021-08-14T23:04:09.502Z,1628982249.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:04:09.873Z,1628982249.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:04:09.873Z,1628982249.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:04:09.873Z,1628982249.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:04:09.874Z,1628982249.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:04:10.273Z,1628982250.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,00DC9,186,80,80,66,FF
2021-08-14T23:04:10.273Z,1628982250.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:04:10.273Z,1628982250.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:04:10.275Z,1628982250.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:04:10.693Z,1628982250.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:04:11.510Z,1628982251.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230411.42*5D

2021-08-14T23:04:12.306Z,1628982252.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,03738,186,80,80,65,FF
2021-08-14T23:04:12.307Z,1628982252.307 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:04:12.735Z,1628982252.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 810.660034 m, bearing: 263.157544 deg, deltaT: 5.727475 s, approachRate: 111.117035 m/s, LOS rate: 0.745246 deg/s, posRepo size: 4
2021-08-14T23:04:15.139Z,1628982255.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:04:15.533Z,1628982255.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:04:15.533Z,1628982255.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:04:15.533Z,1628982255.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:04:15.534Z,1628982255.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:04:15.929Z,1628982255.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,03738,186,80,80,65,FF
2021-08-14T23:04:15.929Z,1628982255.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:04:15.929Z,1628982255.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:04:15.931Z,1628982255.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:04:16.349Z,1628982256.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:04:17.199Z,1628982257.199 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230417.08*55

2021-08-14T23:04:18.026Z,1628982258.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:04:19.565Z,1628982259.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,65,FF
2021-08-14T23:04:19.565Z,1628982259.565 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,65,FF
2021-08-14T23:04:19.565Z,1628982259.565 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:04:20.795Z,1628982260.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:04:21.231Z,1628982261.231 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:04:21.231Z,1628982261.231 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:04:21.231Z,1628982261.231 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:04:21.240Z,1628982261.240 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:04:21.585Z,1628982261.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,65,FF
2021-08-14T23:04:21.585Z,1628982261.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:04:21.585Z,1628982261.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:04:21.587Z,1628982261.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:04:22.041Z,1628982262.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:04:22.797Z,1628982262.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,232,000,00ECA,188,80,80,5F,FF
2021-08-14T23:04:22.798Z,1628982262.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:04:23.272Z,1628982263.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.659988 m, bearing: 258.911735 deg, deltaT: 10.444081 s, approachRate: -59.459522 m/s, LOS rate: -0.406528 deg/s, posRepo size: 4
2021-08-14T23:04:25.657Z,1628982265.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:04:26.055Z,1628982266.055 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:04:26.055Z,1628982266.055 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:04:26.057Z,1628982266.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:04:26.058Z,1628982266.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:04:26.433Z,1628982266.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
232,000,00ECA,188,80,80,5F,FF
2021-08-14T23:04:26.433Z,1628982266.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:04:26.433Z,1628982266.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:04:26.435Z,1628982266.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:04:26.844Z,1628982266.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:04:27.262Z,1628982267.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,232,000,00ECA,188,80,80,5F,FF
2021-08-14T23:04:27.262Z,1628982267.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:04:27.681Z,1628982267.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230427.58*53

2021-08-14T23:04:27.704Z,1628982267.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.659988 m, bearing: 258.318765 deg, deltaT: 4.495547 s, approachRate: 0.000000 m/s, LOS rate: -0.131902 deg/s, posRepo size: 4
2021-08-14T23:04:30.107Z,1628982270.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:04:30.481Z,1628982270.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:04:30.482Z,1628982270.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:04:30.482Z,1628982270.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:04:30.483Z,1628982270.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:04:30.877Z,1628982270.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
232,000,00ECA,188,80,80,5F,FF
2021-08-14T23:04:30.877Z,1628982270.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:04:30.877Z,1628982270.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:04:30.879Z,1628982270.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:04:31.298Z,1628982271.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:04:32.113Z,1628982272.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,239,000,00F37,189,80,80,67,FF
2021-08-14T23:04:32.113Z,1628982272.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:04:32.117Z,1628982272.117 [Micromodem](INFO): Nmea in: $SNTTA,,0.483451,,,230432.03*48

2021-08-14T23:04:32.538Z,1628982272.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.199997 m, bearing: 258.343791 deg, deltaT: 4.867959 s, approachRate: 1.343481 m/s, LOS rate: 0.005141 deg/s, posRepo size: 4
2021-08-14T23:04:34.940Z,1628982274.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:04:35.341Z,1628982275.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:04:35.341Z,1628982275.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:04:35.341Z,1628982275.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:04:35.342Z,1628982275.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:04:35.725Z,1628982275.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
239,000,00F37,189,80,80,67,FF
2021-08-14T23:04:35.725Z,1628982275.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:04:35.726Z,1628982275.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:04:35.727Z,1628982275.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:04:36.138Z,1628982276.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:04:36.965Z,1628982276.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D9,000,00F77,186,80,80,5F,FF
2021-08-14T23:04:36.965Z,1628982276.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:04:36.968Z,1628982276.968 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230436.88*5E

2021-08-14T23:04:37.393Z,1628982277.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.039993 m, bearing: 263.368160 deg, deltaT: 4.777939 s, approachRate: 0.803693 m/s, LOS rate: 1.051577 deg/s, posRepo size: 4
2021-08-14T23:04:39.791Z,1628982279.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:04:40.172Z,1628982280.172 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:04:40.173Z,1628982280.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:04:40.173Z,1628982280.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:04:40.174Z,1628982280.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:04:40.573Z,1628982280.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D9,000,00F77,186,80,80,5F,FF
2021-08-14T23:04:40.573Z,1628982280.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:04:40.573Z,1628982280.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:04:40.575Z,1628982280.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:04:40.981Z,1628982280.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:04:41.805Z,1628982281.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20A,000,00FB4,187,80,80,6A,FF
2021-08-14T23:04:41.805Z,1628982281.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:04:41.808Z,1628982281.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230441.72*5B

2021-08-14T23:04:42.277Z,1628982282.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.699982 m, bearing: 260.029454 deg, deltaT: 4.867555 s, approachRate: 0.751915 m/s, LOS rate: -0.685910 deg/s, posRepo size: 4
2021-08-14T23:04:44.639Z,1628982284.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:04:45.017Z,1628982285.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:04:45.017Z,1628982285.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:04:45.017Z,1628982285.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:04:45.018Z,1628982285.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:04:45.433Z,1628982285.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20A,000,00FB4,187,80,80,6A,FF
2021-08-14T23:04:45.433Z,1628982285.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:04:45.433Z,1628982285.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:04:45.435Z,1628982285.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:04:45.828Z,1628982285.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:04:46.657Z,1628982286.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,00FEE,189,80,80,64,FF
2021-08-14T23:04:46.657Z,1628982286.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:04:46.660Z,1628982286.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230446.58*54

2021-08-14T23:04:47.083Z,1628982287.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.179993 m, bearing: 257.523595 deg, deltaT: 4.823846 s, approachRate: 0.721418 m/s, LOS rate: -0.519473 deg/s, posRepo size: 4
2021-08-14T23:04:49.504Z,1628982289.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:04:49.861Z,1628982289.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:04:49.861Z,1628982289.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:04:49.862Z,1628982289.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:04:49.863Z,1628982289.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:04:50.282Z,1628982290.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,00FEE,189,80,80,64,FF
2021-08-14T23:04:50.282Z,1628982290.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:04:50.282Z,1628982290.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:04:50.285Z,1628982290.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:04:50.681Z,1628982290.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:04:51.193Z,1628982291.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FD,000,01029,187,80,80,73,FF
2021-08-14T23:04:51.194Z,1628982291.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:04:51.557Z,1628982291.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230451.43*58

2021-08-14T23:04:51.576Z,1628982291.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.720001 m, bearing: 261.183128 deg, deltaT: 4.637886 s, approachRate: 0.763281 m/s, LOS rate: 0.789052 deg/s, posRepo size: 4
2021-08-14T23:04:54.058Z,1628982294.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:04:54.397Z,1628982294.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:04:54.397Z,1628982294.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:04:54.397Z,1628982294.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:04:54.398Z,1628982294.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:04:54.779Z,1628982294.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FD,000,01029,187,80,80,73,FF
2021-08-14T23:04:54.779Z,1628982294.779 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:04:54.779Z,1628982294.779 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:04:54.781Z,1628982294.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:04:55.209Z,1628982295.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:04:55.232Z,1628982295.232 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T23:04:56.037Z,1628982296.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27C,000,01060,189,80,80,70,FF
2021-08-14T23:04:56.037Z,1628982296.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:04:56.040Z,1628982296.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230455.93*51

2021-08-14T23:04:56.466Z,1628982296.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.019989 m, bearing: 253.653364 deg, deltaT: 4.799763 s, approachRate: 0.687531 m/s, LOS rate: -1.568778 deg/s, posRepo size: 4
2021-08-14T23:04:58.837Z,1628982298.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:04:59.249Z,1628982299.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:04:59.249Z,1628982299.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:04:59.249Z,1628982299.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:04:59.250Z,1628982299.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:04:59.633Z,1628982299.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27C,000,01060,189,80,80,70,FF
2021-08-14T23:04:59.634Z,1628982299.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:04:59.634Z,1628982299.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:04:59.636Z,1628982299.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:05:00.069Z,1628982300.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:05:00.866Z,1628982300.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,256,000,0109C,189,80,80,65,FF
2021-08-14T23:05:00.866Z,1628982300.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:05:00.870Z,1628982300.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230500.78*55

2021-08-14T23:05:01.324Z,1628982301.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.619995 m, bearing: 255.727938 deg, deltaT: 4.807030 s, approachRate: 0.748904 m/s, LOS rate: 0.431571 deg/s, posRepo size: 4
2021-08-14T23:05:03.682Z,1628982303.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:05:04.071Z,1628982304.071 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:05:04.071Z,1628982304.071 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:05:04.071Z,1628982304.071 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:05:04.073Z,1628982304.073 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:05:04.477Z,1628982304.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
256,000,0109C,189,80,80,65,FF
2021-08-14T23:05:04.477Z,1628982304.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:05:04.477Z,1628982304.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:05:04.479Z,1628982304.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:05:04.877Z,1628982304.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:05:05.710Z,1628982305.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,263,000,010D9,189,80,80,56,FF
2021-08-14T23:05:05.710Z,1628982305.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:05:05.715Z,1628982305.715 [Micromodem](INFO): Nmea in: $SNTTA,0.149749,,,,230505.63*42

2021-08-14T23:05:06.133Z,1628982306.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.279984 m, bearing: 254.672182 deg, deltaT: 4.865089 s, approachRate: 0.752296 m/s, LOS rate: -0.217007 deg/s, posRepo size: 4
2021-08-14T23:05:08.559Z,1628982308.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:05:08.925Z,1628982308.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:05:08.925Z,1628982308.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:05:08.925Z,1628982308.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:05:08.926Z,1628982308.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:05:09.331Z,1628982309.331 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
263,000,010D9,189,80,80,56,FF
2021-08-14T23:05:09.331Z,1628982309.331 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:05:09.331Z,1628982309.331 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:05:09.333Z,1628982309.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:05:09.729Z,1628982309.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:05:10.549Z,1628982310.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,220,000,01114,188,80,80,5B,FF
2021-08-14T23:05:10.549Z,1628982310.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:05:10.552Z,1628982310.552 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230510.48*57

2021-08-14T23:05:10.984Z,1628982310.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.819992 m, bearing: 258.511431 deg, deltaT: 4.832432 s, approachRate: 0.732552 m/s, LOS rate: 0.794476 deg/s, posRepo size: 4
2021-08-14T23:05:13.421Z,1628982313.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:05:13.776Z,1628982313.776 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:05:13.776Z,1628982313.776 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:05:13.777Z,1628982313.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:05:13.778Z,1628982313.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:05:14.173Z,1628982314.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
220,000,01114,188,80,80,5B,FF
2021-08-14T23:05:14.173Z,1628982314.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:05:14.174Z,1628982314.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:05:14.181Z,1628982314.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:05:14.609Z,1628982314.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:05:15.421Z,1628982315.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,223,000,0114E,189,80,80,5D,FF
2021-08-14T23:05:15.421Z,1628982315.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:05:15.424Z,1628982315.424 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230515.33*5E

2021-08-14T23:05:15.852Z,1628982315.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.300003 m, bearing: 259.323814 deg, deltaT: 4.888408 s, approachRate: 0.711890 m/s, LOS rate: 0.166186 deg/s, posRepo size: 4
2021-08-14T23:05:18.345Z,1628982318.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:05:18.646Z,1628982318.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:05:18.646Z,1628982318.646 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:05:18.646Z,1628982318.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:05:18.647Z,1628982318.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:05:19.045Z,1628982319.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
223,000,0114E,189,80,80,5D,FF
2021-08-14T23:05:19.045Z,1628982319.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:05:19.045Z,1628982319.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:05:19.047Z,1628982319.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:05:19.461Z,1628982319.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:05:20.269Z,1628982320.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,231,000,0118E,189,80,80,63,FF
2021-08-14T23:05:20.269Z,1628982320.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:05:20.273Z,1628982320.273 [Micromodem](INFO): Nmea in: $SNTTA,0.359324,0.359449,,,230520.20*56

2021-08-14T23:05:20.700Z,1628982320.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.139984 m, bearing: 258.446490 deg, deltaT: 4.909283 s, approachRate: 0.782188 m/s, LOS rate: -0.178707 deg/s, posRepo size: 4
2021-08-14T23:05:23.130Z,1628982323.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:05:23.497Z,1628982323.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:05:23.497Z,1628982323.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:05:23.497Z,1628982323.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:05:23.498Z,1628982323.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:05:23.893Z,1628982323.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
231,000,0118E,189,80,80,63,FF
2021-08-14T23:05:23.893Z,1628982323.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:05:23.893Z,1628982323.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:05:23.895Z,1628982323.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:05:24.311Z,1628982324.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:05:25.129Z,1628982325.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,011C8,188,80,80,57,FF
2021-08-14T23:05:25.129Z,1628982325.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:05:25.132Z,1628982325.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230525.04*59

2021-08-14T23:05:25.559Z,1628982325.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.619995 m, bearing: 258.313957 deg, deltaT: 4.778640 s, approachRate: 0.728243 m/s, LOS rate: -0.027734 deg/s, posRepo size: 4
2021-08-14T23:05:28.011Z,1628982328.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:05:28.345Z,1628982328.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:05:28.345Z,1628982328.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:05:28.345Z,1628982328.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:05:28.346Z,1628982328.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:05:28.741Z,1628982328.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22D,000,011C8,188,80,80,57,FF
2021-08-14T23:05:28.741Z,1628982328.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:05:28.741Z,1628982328.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:05:28.743Z,1628982328.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:05:29.157Z,1628982329.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:05:29.987Z,1628982329.987 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23C,000,01202,189,80,80,3F,FF
2021-08-14T23:05:29.989Z,1628982329.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:05:29.000Z,1628982330.000 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230529.89*50

2021-08-14T23:05:30.408Z,1628982330.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.100006 m, bearing: 257.374915 deg, deltaT: 4.889762 s, approachRate: 0.711693 m/s, LOS rate: -0.192042 deg/s, posRepo size: 4
2021-08-14T23:05:32.811Z,1628982332.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:05:33.209Z,1628982333.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:05:33.209Z,1628982333.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:05:33.209Z,1628982333.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:05:33.210Z,1628982333.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:05:33.601Z,1628982333.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23C,000,01202,189,80,80,3F,FF
2021-08-14T23:05:33.601Z,1628982333.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:05:33.601Z,1628982333.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:05:33.603Z,1628982333.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:05:34.048Z,1628982334.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:05:34.833Z,1628982334.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20D,000,0123D,187,80,80,50,FF
2021-08-14T23:05:34.833Z,1628982334.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:05:34.836Z,1628982334.836 [Micromodem](INFO): Nmea in: $SNTTA,,0.121629,,,230534.75*4E

2021-08-14T23:05:35.289Z,1628982335.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.639984 m, bearing: 259.645434 deg, deltaT: 4.767786 s, approachRate: 0.742478 m/s, LOS rate: 0.476221 deg/s, posRepo size: 4
2021-08-14T23:05:37.670Z,1628982337.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:05:38.045Z,1628982338.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:05:38.045Z,1628982338.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:05:38.045Z,1628982338.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:05:38.046Z,1628982338.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:05:38.437Z,1628982338.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20D,000,0123D,187,80,80,50,FF
2021-08-14T23:05:38.437Z,1628982338.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:05:38.437Z,1628982338.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:05:38.439Z,1628982338.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:05:38.845Z,1628982338.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:05:39.682Z,1628982339.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230539.59*5C

2021-08-14T23:05:40.509Z,1628982340.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:05:42.073Z,1628982342.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:05:42.073Z,1628982342.073 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:05:42.073Z,1628982342.073 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:05:43.334Z,1628982343.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:05:43.689Z,1628982343.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:05:43.689Z,1628982343.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:05:43.689Z,1628982343.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:05:43.690Z,1628982343.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:05:44.101Z,1628982344.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:05:44.101Z,1628982344.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:05:44.101Z,1628982344.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:05:44.103Z,1628982344.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:05:44.504Z,1628982344.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:05:45.334Z,1628982345.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230545.25*5C

2021-08-14T23:05:46.208Z,1628982346.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:05:47.729Z,1628982347.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:05:47.729Z,1628982347.729 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:05:47.730Z,1628982347.730 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:05:48.970Z,1628982348.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:05:49.353Z,1628982349.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:05:49.354Z,1628982349.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:05:49.354Z,1628982349.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:05:49.355Z,1628982349.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:05:49.761Z,1628982349.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:05:49.761Z,1628982349.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:05:49.762Z,1628982349.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:05:49.763Z,1628982349.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:05:50.169Z,1628982350.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:05:50.982Z,1628982350.982 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230550.91*57

2021-08-14T23:05:51.795Z,1628982351.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:05:53.390Z,1628982353.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:05:53.391Z,1628982353.391 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:05:53.391Z,1628982353.391 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:05:54.648Z,1628982354.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:05:55.010Z,1628982355.010 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:05:55.010Z,1628982355.010 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:05:55.010Z,1628982355.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:05:55.011Z,1628982355.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:05:55.425Z,1628982355.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:05:55.425Z,1628982355.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:05:55.425Z,1628982355.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:05:55.427Z,1628982355.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:05:55.813Z,1628982355.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:05:56.646Z,1628982356.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230556.57*5B

2021-08-14T23:05:57.453Z,1628982357.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:05:59.049Z,1628982359.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:05:59.049Z,1628982359.049 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:05:59.050Z,1628982359.050 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:06:00.369Z,1628982360.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:00.667Z,1628982360.667 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:06:00.667Z,1628982360.667 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:06:00.668Z,1628982360.668 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:06:00.669Z,1628982360.669 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:06:01.062Z,1628982361.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:06:01.062Z,1628982361.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:06:01.062Z,1628982361.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:06:01.093Z,1628982361.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:06:01.473Z,1628982361.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:06:02.283Z,1628982362.283 [Micromodem](INFO): Nmea in: $SNTTA,0.177981,0.374828,,,230602.24*5E

2021-08-14T23:06:03.110Z,1628982363.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:04.717Z,1628982364.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:06:04.718Z,1628982364.718 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:06:04.718Z,1628982364.718 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:06:06.012Z,1628982366.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:06.342Z,1628982366.342 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:06:06.342Z,1628982366.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:06:06.345Z,1628982366.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:06:06.348Z,1628982366.348 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:06:06.729Z,1628982366.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:06:06.729Z,1628982366.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:06:06.730Z,1628982366.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:06:06.735Z,1628982366.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:06:07.142Z,1628982367.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:06:07.983Z,1628982367.983 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230607.88*5E

2021-08-14T23:06:08.762Z,1628982368.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:10.355Z,1628982370.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:06:10.355Z,1628982370.355 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:06:10.355Z,1628982370.355 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:06:11.587Z,1628982371.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:12.004Z,1628982372.004 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:06:12.004Z,1628982372.004 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:06:12.004Z,1628982372.004 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:06:12.005Z,1628982372.005 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:06:12.377Z,1628982372.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,50,FF
2021-08-14T23:06:12.377Z,1628982372.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:06:12.377Z,1628982372.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:06:12.379Z,1628982372.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:06:12.792Z,1628982372.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:06:13.217Z,1628982373.217 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for altitude
2021-08-14T23:06:13.605Z,1628982373.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,01432,185,80,80,49,FF
2021-08-14T23:06:13.605Z,1628982373.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:06:13.608Z,1628982373.608 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230613.53*5D

2021-08-14T23:06:14.119Z,1628982374.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 272.699982 m, bearing: 288.286029 deg, deltaT: 38.792395 s, approachRate: 0.774894 m/s, LOS rate: 0.738304 deg/s, posRepo size: 4
2021-08-14T23:06:16.466Z,1628982376.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:16.817Z,1628982376.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:06:16.817Z,1628982376.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:06:16.817Z,1628982376.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:06:16.818Z,1628982376.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:06:17.237Z,1628982377.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,01432,185,80,80,49,FF
2021-08-14T23:06:17.237Z,1628982377.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:06:17.237Z,1628982377.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:06:17.239Z,1628982377.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:06:17.633Z,1628982377.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:06:18.455Z,1628982378.455 [Micromodem](INFO): Nmea in: $SNTTA,0.302715,,,,230618.39*46

2021-08-14T23:06:19.273Z,1628982379.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:20.857Z,1628982380.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,185,80,80,49,FF
2021-08-14T23:06:20.857Z,1628982380.857 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,185,80,80,49,FF
2021-08-14T23:06:20.858Z,1628982380.858 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:06:22.128Z,1628982382.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:22.473Z,1628982382.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:06:22.473Z,1628982382.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:06:22.473Z,1628982382.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:06:22.474Z,1628982382.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:06:22.877Z,1628982382.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,185,80,80,49,FF
2021-08-14T23:06:22.877Z,1628982382.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:06:22.877Z,1628982382.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:06:22.879Z,1628982382.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:06:23.301Z,1628982383.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:06:24.111Z,1628982384.111 [Micromodem](INFO): Nmea in: $SNTTA,0.482635,0.482666,,,230624.03*5A

2021-08-14T23:06:24.926Z,1628982384.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:26.510Z,1628982386.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,185,80,80,49,FF
2021-08-14T23:06:26.510Z,1628982386.510 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,185,80,80,49,FF
2021-08-14T23:06:26.510Z,1628982386.510 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:06:27.739Z,1628982387.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:28.134Z,1628982388.134 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:06:28.134Z,1628982388.134 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:06:28.134Z,1628982388.134 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:06:28.135Z,1628982388.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:06:28.530Z,1628982388.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,185,80,80,49,FF
2021-08-14T23:06:28.530Z,1628982388.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:06:28.530Z,1628982388.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:06:28.531Z,1628982388.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:06:28.941Z,1628982388.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:06:29.770Z,1628982389.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,01501,186,80,80,39,FF
2021-08-14T23:06:29.770Z,1628982389.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:06:29.773Z,1628982389.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230629.68*5C

2021-08-14T23:06:30.242Z,1628982390.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 285.119995 m, bearing: 292.127027 deg, deltaT: 16.169135 s, approachRate: 0.768131 m/s, LOS rate: 0.237551 deg/s, posRepo size: 4
2021-08-14T23:06:32.591Z,1628982392.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:32.981Z,1628982392.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:06:32.981Z,1628982392.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:06:32.982Z,1628982392.982 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:06:32.983Z,1628982392.983 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:06:33.381Z,1628982393.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,01501,186,80,80,39,FF
2021-08-14T23:06:33.381Z,1628982393.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:06:33.382Z,1628982393.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:06:33.383Z,1628982393.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:06:33.796Z,1628982393.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:06:34.617Z,1628982394.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,0153F,185,80,80,40,FF
2021-08-14T23:06:34.618Z,1628982394.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:06:34.621Z,1628982394.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230634.53*58

2021-08-14T23:06:35.036Z,1628982395.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 288.839966 m, bearing: 289.476203 deg, deltaT: 4.859230 s, approachRate: 0.765547 m/s, LOS rate: -0.545523 deg/s, posRepo size: 4
2021-08-14T23:06:37.478Z,1628982397.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:37.833Z,1628982397.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:06:37.833Z,1628982397.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:06:37.833Z,1628982397.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:06:37.834Z,1628982397.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:06:38.241Z,1628982398.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,0153F,185,80,80,40,FF
2021-08-14T23:06:38.241Z,1628982398.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:06:38.242Z,1628982398.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:06:38.243Z,1628982398.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:06:38.642Z,1628982398.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:06:39.470Z,1628982399.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230639.39*59

2021-08-14T23:06:40.337Z,1628982400.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:41.881Z,1628982401.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:06:41.882Z,1628982401.882 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:06:41.882Z,1628982401.882 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:06:43.128Z,1628982403.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:43.485Z,1628982403.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:06:43.486Z,1628982403.486 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:06:43.486Z,1628982403.486 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:06:43.487Z,1628982403.487 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:06:43.900Z,1628982403.900 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:06:43.900Z,1628982403.900 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:06:43.900Z,1628982403.900 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:06:43.902Z,1628982403.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:06:44.299Z,1628982404.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:06:45.130Z,1628982405.130 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230645.05*5D

2021-08-14T23:06:46.003Z,1628982406.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:47.533Z,1628982407.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:06:47.534Z,1628982407.534 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:06:47.534Z,1628982407.534 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:06:48.767Z,1628982408.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:49.161Z,1628982409.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:06:49.161Z,1628982409.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:06:49.161Z,1628982409.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:06:49.162Z,1628982409.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:06:49.545Z,1628982409.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:06:49.545Z,1628982409.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:06:49.545Z,1628982409.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:06:49.547Z,1628982409.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:06:50.002Z,1628982410.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:06:50.786Z,1628982410.786 [Micromodem](INFO): Nmea in: $SNTTA,0.202161,,,,230650.69*4B

2021-08-14T23:06:51.611Z,1628982411.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:53.209Z,1628982413.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:06:53.209Z,1628982413.209 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:06:53.210Z,1628982413.210 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:06:54.430Z,1628982414.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:54.805Z,1628982414.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:06:54.805Z,1628982414.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:06:54.806Z,1628982414.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:06:54.806Z,1628982414.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:06:55.237Z,1628982415.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:06:55.237Z,1628982415.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:06:55.237Z,1628982415.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:06:55.239Z,1628982415.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:06:55.623Z,1628982415.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:06:56.046Z,1628982416.046 [Micromodem](INFO): Nmea in: $SNTTA,0.301996,0.301796,,,230656.39*5E

2021-08-14T23:06:57.305Z,1628982417.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:06:58.847Z,1628982418.847 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:06:58.847Z,1628982418.847 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:06:58.847Z,1628982418.847 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:07:00.102Z,1628982420.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:00.466Z,1628982420.466 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:07:00.467Z,1628982420.467 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:07:00.467Z,1628982420.467 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:07:00.468Z,1628982420.468 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:07:00.857Z,1628982420.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:07:00.857Z,1628982420.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:07:00.857Z,1628982420.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:07:00.859Z,1628982420.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:07:01.265Z,1628982421.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:07:02.096Z,1628982422.096 [Micromodem](INFO): Nmea in: $SNTTA,,0.451489,,,230702.01*40

2021-08-14T23:07:02.895Z,1628982422.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:04.497Z,1628982424.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:07:04.498Z,1628982424.498 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:07:04.498Z,1628982424.498 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:07:05.723Z,1628982425.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:06.113Z,1628982426.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:07:06.113Z,1628982426.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:07:06.113Z,1628982426.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:07:06.114Z,1628982426.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:07:06.513Z,1628982426.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:07:06.513Z,1628982426.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:07:06.513Z,1628982426.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:07:06.515Z,1628982426.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:07:06.920Z,1628982426.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:07:07.750Z,1628982427.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230707.66*5F

2021-08-14T23:07:08.231Z,1628982428.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:10.149Z,1628982430.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:07:10.150Z,1628982430.150 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:07:10.150Z,1628982430.150 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:07:10.995Z,1628982430.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:11.361Z,1628982431.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:07:11.361Z,1628982431.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:07:11.361Z,1628982431.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:07:11.362Z,1628982431.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:07:11.765Z,1628982431.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,185,80,80,40,FF
2021-08-14T23:07:11.765Z,1628982431.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:07:11.765Z,1628982431.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:07:11.767Z,1628982431.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:07:12.202Z,1628982432.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:07:13.010Z,1628982433.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230712.92*50

2021-08-14T23:07:13.785Z,1628982433.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,03972,184,80,80,2F,FF
2021-08-14T23:07:13.785Z,1628982433.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:07:14.266Z,1628982434.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 844.860107 m, bearing: 282.021707 deg, deltaT: 39.158167 s, approachRate: 14.199341 m/s, LOS rate: -0.190369 deg/s, posRepo size: 4
2021-08-14T23:07:16.657Z,1628982436.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:17.021Z,1628982437.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:07:17.021Z,1628982437.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:07:17.021Z,1628982437.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:07:17.022Z,1628982437.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:07:17.417Z,1628982437.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,03972,184,80,80,2F,FF
2021-08-14T23:07:17.417Z,1628982437.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:07:17.418Z,1628982437.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:07:17.419Z,1628982437.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:07:17.829Z,1628982437.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:07:18.658Z,1628982438.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230718.57*53

2021-08-14T23:07:19.483Z,1628982439.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:21.089Z,1628982441.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:21.089Z,1628982441.089 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:21.089Z,1628982441.089 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:07:22.340Z,1628982442.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:22.681Z,1628982442.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:07:22.681Z,1628982442.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:07:22.682Z,1628982442.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:07:22.683Z,1628982442.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:07:23.095Z,1628982443.095 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:23.096Z,1628982443.096 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:07:23.096Z,1628982443.096 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:07:23.098Z,1628982443.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:07:23.489Z,1628982443.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:07:24.297Z,1628982444.297 [Micromodem](INFO): Nmea in: $SNTTA,0.373623,0.373723,,,230724.25*58

2021-08-14T23:07:25.117Z,1628982445.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:26.718Z,1628982446.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:26.718Z,1628982446.718 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:26.718Z,1628982446.718 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:07:28.014Z,1628982448.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:28.337Z,1628982448.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:07:28.337Z,1628982448.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:07:28.337Z,1628982448.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:07:28.338Z,1628982448.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:07:28.730Z,1628982448.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:28.730Z,1628982448.730 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:07:28.730Z,1628982448.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:07:28.732Z,1628982448.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:07:29.137Z,1628982449.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:07:29.979Z,1628982449.979 [Micromodem](INFO): Nmea in: $SNTTA,0.223554,,,,230729.88*4A

2021-08-14T23:07:30.774Z,1628982450.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:32.369Z,1628982452.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:32.369Z,1628982452.369 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:32.369Z,1628982452.369 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:07:33.623Z,1628982453.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:34.025Z,1628982454.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:07:34.025Z,1628982454.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:07:34.025Z,1628982454.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:07:34.026Z,1628982454.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:07:34.389Z,1628982454.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:34.389Z,1628982454.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:07:34.389Z,1628982454.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:07:34.391Z,1628982454.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:07:34.796Z,1628982454.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:07:35.626Z,1628982455.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230735.54*5F

2021-08-14T23:07:36.460Z,1628982456.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:38.041Z,1628982458.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:38.041Z,1628982458.041 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:38.041Z,1628982458.041 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:07:39.273Z,1628982459.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:39.641Z,1628982459.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:07:39.641Z,1628982459.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:07:39.641Z,1628982459.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:07:39.642Z,1628982459.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:07:40.057Z,1628982460.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:40.057Z,1628982460.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:07:40.057Z,1628982460.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:07:40.059Z,1628982460.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:07:40.482Z,1628982460.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:07:41.315Z,1628982461.315 [Micromodem](INFO): Nmea in: $SNTTA,0.227682,,,,230741.21*4B

2021-08-14T23:07:42.256Z,1628982462.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:43.705Z,1628982463.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:43.705Z,1628982463.705 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:43.706Z,1628982463.706 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:07:44.931Z,1628982464.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:45.325Z,1628982465.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:07:45.325Z,1628982465.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:07:45.325Z,1628982465.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:07:45.326Z,1628982465.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:07:45.725Z,1628982465.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:45.725Z,1628982465.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:07:45.725Z,1628982465.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:07:45.727Z,1628982465.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:07:46.152Z,1628982466.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:07:46.959Z,1628982466.959 [Micromodem](INFO): Nmea in: $SNTTA,,0.058456,,,230746.88*4E

2021-08-14T23:07:47.783Z,1628982467.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:49.369Z,1628982469.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:49.370Z,1628982469.370 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:49.370Z,1628982469.370 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:07:50.600Z,1628982470.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:51.001Z,1628982471.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:07:51.001Z,1628982471.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:07:51.001Z,1628982471.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:07:51.002Z,1628982471.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:07:51.385Z,1628982471.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:51.385Z,1628982471.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:07:51.385Z,1628982471.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:07:51.387Z,1628982471.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:07:51.814Z,1628982471.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:07:52.618Z,1628982472.618 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230752.55*5F

2021-08-14T23:07:53.455Z,1628982473.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:55.022Z,1628982475.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:55.022Z,1628982475.022 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:55.022Z,1628982475.022 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:07:56.145Z,1628982476.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:07:56.361Z,1628982476.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:07:56.361Z,1628982476.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:07:56.361Z,1628982476.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:07:56.362Z,1628982476.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:07:56.769Z,1628982476.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:07:56.769Z,1628982476.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:07:56.770Z,1628982476.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:07:56.771Z,1628982476.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:07:57.163Z,1628982477.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:07:58.019Z,1628982478.019 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230757.92*51

2021-08-14T23:07:58.826Z,1628982478.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:08:00.390Z,1628982480.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:08:00.390Z,1628982480.390 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:08:00.390Z,1628982480.390 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:08:01.642Z,1628982481.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:08:02.057Z,1628982482.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:08:02.057Z,1628982482.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:08:02.057Z,1628982482.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:08:02.058Z,1628982482.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:08:02.425Z,1628982482.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:08:02.425Z,1628982482.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:08:02.425Z,1628982482.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:08:02.427Z,1628982482.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:08:02.829Z,1628982482.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:08:03.647Z,1628982483.647 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230803.58*59

2021-08-14T23:08:04.470Z,1628982484.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:08:06.053Z,1628982486.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:08:06.054Z,1628982486.054 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:08:06.054Z,1628982486.054 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:08:07.333Z,1628982487.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:08:07.673Z,1628982487.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:08:07.673Z,1628982487.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:08:07.673Z,1628982487.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:08:07.674Z,1628982487.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:08:08.092Z,1628982488.092 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,184,80,80,2F,FF
2021-08-14T23:08:08.092Z,1628982488.092 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:08:08.092Z,1628982488.092 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:08:08.094Z,1628982488.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:08:08.497Z,1628982488.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:08:09.329Z,1628982489.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F7,000,019DB,187,80,80,2D,FF
2021-08-14T23:08:09.329Z,1628982489.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:08:09.332Z,1628982489.332 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230809.24*58

2021-08-14T23:08:09.750Z,1628982489.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 359.639984 m, bearing: 259.849547 deg, deltaT: 55.574264 s, approachRate: -8.731022 m/s, LOS rate: -0.398965 deg/s, posRepo size: 4
2021-08-14T23:08:09.750Z,1628982489.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 359.64 m. Resuming terminal guidance.
2021-08-14T23:08:09.751Z,1628982489.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T23:08:12.249Z,1628982492.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:08:12.538Z,1628982492.538 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:08:12.538Z,1628982492.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:08:12.538Z,1628982492.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:08:12.539Z,1628982492.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:08:12.948Z,1628982492.948 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F7,000,019DB,187,80,80,2D,FF
2021-08-14T23:08:12.949Z,1628982492.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:08:12.949Z,1628982492.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:08:12.951Z,1628982492.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:08:13.361Z,1628982493.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:08:14.145Z,1628982494.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,131,000,01330,186,80,80,44,FF
2021-08-14T23:08:14.145Z,1628982494.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:08:14.149Z,1628982494.149 [Micromodem](INFO): Nmea in: $SNTTA,0.403324,0.403455,,,230814.10*52

2021-08-14T23:08:14.616Z,1628982494.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 257.220001 m, bearing: 271.977778 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T23:08:14.617Z,1628982494.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 271.977778deg and heading rate command to 0 deg/s.
2021-08-14T23:08:17.037Z,1628982497.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:08:17.374Z,1628982497.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:08:17.374Z,1628982497.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:08:17.375Z,1628982497.375 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:08:17.377Z,1628982497.377 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:08:17.796Z,1628982497.796 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
131,000,01330,186,80,80,44,FF
2021-08-14T23:08:17.796Z,1628982497.796 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:08:17.797Z,1628982497.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:08:17.799Z,1628982497.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:08:18.201Z,1628982498.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:08:19.006Z,1628982499.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,250,000,01A53,189,80,80,3A,FF
2021-08-14T23:08:19.006Z,1628982499.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:08:19.009Z,1628982499.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230818.95*52

2021-08-14T23:08:19.463Z,1628982499.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 366.839996 m, bearing: 254.239148 deg, deltaT: 4.753740 s, approachRate: 23.059736 m/s, LOS rate: -3.731510 deg/s, posRepo size: 2
2021-08-14T23:08:19.466Z,1628982499.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 366.839996 m,
      bearing: 254.239148 deg,
      approachRate: 23.059736 m/s,
      LOS rate: -3.731510 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 271.977778 deg,
      new cmd heading: 271.977778 deg.

2021-08-14T23:08:21.833Z,1628982501.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:08:22.240Z,1628982502.240 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:08:22.240Z,1628982502.240 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:08:22.241Z,1628982502.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:08:22.242Z,1628982502.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:08:22.629Z,1628982502.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
250,000,01A53,189,80,80,3A,FF
2021-08-14T23:08:22.629Z,1628982502.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:08:22.629Z,1628982502.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:08:22.631Z,1628982502.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:08:23.037Z,1628982503.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:08:23.856Z,1628982503.856 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E06,000,01A9B,187,80,80,34,FF
2021-08-14T23:08:23.857Z,1628982503.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:08:23.859Z,1628982503.859 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230823.78*59

2021-08-14T23:08:24.373Z,1628982504.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 371.159973 m, bearing: 292.711445 deg, deltaT: 4.850200 s, approachRate: 0.890680 m/s, LOS rate: 7.932105 deg/s, posRepo size: 3
2021-08-14T23:08:24.375Z,1628982504.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 371.159973 m,
      bearing: 292.711445 deg,
      approachRate: 0.890680 m/s,
      LOS rate: 7.932105 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 213.771380 deg,
      new cmd heading: 207.848012 deg.

2021-08-14T23:08:26.699Z,1628982506.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:08:27.073Z,1628982507.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:08:27.073Z,1628982507.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:08:27.073Z,1628982507.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:08:27.074Z,1628982507.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:08:27.477Z,1628982507.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E06,000,01A9B,187,80,80,34,FF
2021-08-14T23:08:27.477Z,1628982507.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:08:27.477Z,1628982507.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:08:27.479Z,1628982507.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:08:27.893Z,1628982507.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:08:28.721Z,1628982508.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,304,000,01AD3,189,80,80,3B,FF
2021-08-14T23:08:28.721Z,1628982508.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:08:28.740Z,1628982508.740 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230828.63*58

2021-08-14T23:08:29.125Z,1628982509.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 374.519989 m, bearing: 211.125751 deg, deltaT: 4.910269 s, approachRate: 0.684283 m/s, LOS rate: -16.615321 deg/s, posRepo size: 4
2021-08-14T23:08:29.125Z,1628982509.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.615321 deg/s. Setting heading cmd to target bearing of 211.125751deg and heading rate command to 0 deg/s.
2021-08-14T23:08:31.542Z,1628982511.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:08:31.937Z,1628982511.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:08:31.938Z,1628982511.938 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:08:31.938Z,1628982511.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:08:31.955Z,1628982511.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:08:32.349Z,1628982512.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
304,000,01AD3,189,80,80,3B,FF
2021-08-14T23:08:32.349Z,1628982512.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:08:32.350Z,1628982512.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:08:32.351Z,1628982512.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:08:32.844Z,1628982512.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:08:33.643Z,1628982513.643 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22C,000,01AFE,188,80,80,76,FF
2021-08-14T23:08:33.643Z,1628982513.643 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:08:33.646Z,1628982513.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230833.50*52

2021-08-14T23:08:34.201Z,1628982514.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 377.099976 m, bearing: 214.956353 deg, deltaT: 4.901200 s, approachRate: 0.526399 m/s, LOS rate: 0.781564 deg/s, posRepo size: 4
2021-08-14T23:08:34.203Z,1628982514.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 377.099976 m,
      bearing: 214.956353 deg,
      approachRate: 0.526399 m/s,
      LOS rate: 0.781564 deg/s,
      cmd update: 3.126257 deg/s,
      cmd heading: 211.125751 deg,
      new cmd heading: 211.125751 deg.

2021-08-14T23:08:36.527Z,1628982516.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:08:36.875Z,1628982516.875 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:08:36.875Z,1628982516.875 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:08:36.875Z,1628982516.875 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:08:36.876Z,1628982516.876 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:08:37.273Z,1628982517.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22C,000,01AFE,188,80,80,76,FF
2021-08-14T23:08:37.273Z,1628982517.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:08:37.273Z,1628982517.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:08:37.275Z,1628982517.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:08:37.704Z,1628982517.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:08:38.525Z,1628982518.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36E,000,01B2B,188,80,80,7D,FF
2021-08-14T23:08:38.525Z,1628982518.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:08:38.528Z,1628982518.528 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230838.43*5B

2021-08-14T23:08:38.968Z,1628982518.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 379.799988 m, bearing: 199.150858 deg, deltaT: 4.871978 s, approachRate: 0.554192 m/s, LOS rate: -3.244164 deg/s, posRepo size: 4
2021-08-14T23:08:38.971Z,1628982518.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 379.799988 m,
      bearing: 199.150858 deg,
      approachRate: 0.554192 m/s,
      LOS rate: -3.244164 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 226.369076 deg,
      new cmd heading: 227.645067 deg.

2021-08-14T23:08:41.370Z,1628982521.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:08:41.729Z,1628982521.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:08:41.729Z,1628982521.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:08:41.729Z,1628982521.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:08:41.730Z,1628982521.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:08:42.145Z,1628982522.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36E,000,01B2B,188,80,80,7D,FF
2021-08-14T23:08:42.146Z,1628982522.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:08:42.146Z,1628982522.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:08:42.150Z,1628982522.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:08:42.556Z,1628982522.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:08:43.385Z,1628982523.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,165,000,01B53,186,80,80,8B,FF
2021-08-14T23:08:43.385Z,1628982523.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:08:43.388Z,1628982523.388 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230843.30*53

2021-08-14T23:08:43.802Z,1628982523.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 382.199982 m, bearing: 206.788786 deg, deltaT: 4.855544 s, approachRate: 0.494279 m/s, LOS rate: 1.573032 deg/s, posRepo size: 4
2021-08-14T23:08:43.804Z,1628982523.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 382.199982 m,
      bearing: 206.788786 deg,
      approachRate: 0.494279 m/s,
      LOS rate: 1.573032 deg/s,
      cmd update: 6.292129 deg/s,
      cmd heading: 168.099906 deg,
      new cmd heading: 163.450158 deg.

2021-08-14T23:08:46.271Z,1628982526.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:08:46.589Z,1628982526.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:08:46.589Z,1628982526.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:08:46.589Z,1628982526.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:08:46.590Z,1628982526.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:08:46.985Z,1628982526.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
165,000,01B53,186,80,80,8B,FF
2021-08-14T23:08:46.985Z,1628982526.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:08:46.986Z,1628982526.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:08:46.987Z,1628982526.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:08:47.393Z,1628982527.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:08:48.240Z,1628982528.240 [Micromodem](INFO): Nmea in: $SNTTA,0.257711,0.427389,,,230848.14*5A

2021-08-14T23:08:49.041Z,1628982529.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:08:50.621Z,1628982530.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,8B,FF
2021-08-14T23:08:50.621Z,1628982530.621 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,8B,FF
2021-08-14T23:08:50.622Z,1628982530.622 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:08:51.861Z,1628982531.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:08:52.245Z,1628982532.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:08:52.245Z,1628982532.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:08:52.245Z,1628982532.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:08:52.246Z,1628982532.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:08:52.646Z,1628982532.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,8B,FF
2021-08-14T23:08:52.646Z,1628982532.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:08:52.646Z,1628982532.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:08:52.648Z,1628982532.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:08:53.049Z,1628982533.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:08:53.877Z,1628982533.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01B78,189,80,80,5F,FF
2021-08-14T23:08:53.878Z,1628982533.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:08:53.880Z,1628982533.880 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230853.80*59

2021-08-14T23:08:54.350Z,1628982534.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 384.420013 m, bearing: 136.252015 deg, deltaT: 10.481354 s, approachRate: 0.211808 m/s, LOS rate: -6.729738 deg/s, posRepo size: 4
2021-08-14T23:08:54.353Z,1628982534.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 384.420013 m,
      bearing: 136.252015 deg,
      approachRate: 0.211808 m/s,
      LOS rate: -6.729738 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 234.049963 deg,
      new cmd heading: 236.906747 deg.

2021-08-14T23:08:56.707Z,1628982536.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:08:57.087Z,1628982537.087 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:08:57.087Z,1628982537.087 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:08:57.087Z,1628982537.087 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:08:57.088Z,1628982537.088 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:08:57.493Z,1628982537.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01B78,189,80,80,5F,FF
2021-08-14T23:08:57.493Z,1628982537.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:08:57.494Z,1628982537.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:08:57.495Z,1628982537.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:08:57.905Z,1628982537.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:08:58.725Z,1628982538.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,382,000,01B8C,189,80,80,4C,FF
2021-08-14T23:08:58.726Z,1628982538.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:08:58.729Z,1628982538.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230858.65*59

2021-08-14T23:08:59.147Z,1628982539.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 385.619995 m, bearing: 174.744133 deg, deltaT: 4.884350 s, approachRate: 0.245679 m/s, LOS rate: 7.880705 deg/s, posRepo size: 4
2021-08-14T23:08:59.150Z,1628982539.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 385.619995 m,
      bearing: 174.744133 deg,
      approachRate: 0.245679 m/s,
      LOS rate: 7.880705 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 175.485593 deg,
      new cmd heading: 171.031097 deg.

2021-08-14T23:09:01.579Z,1628982541.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:01.931Z,1628982541.931 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:09:01.932Z,1628982541.932 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:09:01.933Z,1628982541.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:09:01.934Z,1628982541.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:09:02.354Z,1628982542.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
382,000,01B8C,189,80,80,4C,FF
2021-08-14T23:09:02.354Z,1628982542.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:09:02.354Z,1628982542.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:09:02.356Z,1628982542.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:09:02.751Z,1628982542.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:09:03.576Z,1628982543.576 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21B,000,01BAC,187,80,80,5D,FF
2021-08-14T23:09:03.576Z,1628982543.576 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:09:03.579Z,1628982543.579 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230903.51*51

2021-08-14T23:09:04.030Z,1628982544.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 387.540009 m, bearing: 192.208804 deg, deltaT: 4.824818 s, approachRate: 0.397945 m/s, LOS rate: 3.619757 deg/s, posRepo size: 4
2021-08-14T23:09:04.033Z,1628982544.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 387.540009 m,
      bearing: 192.208804 deg,
      approachRate: 0.397945 m/s,
      LOS rate: 3.619757 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 233.428544 deg,
      new cmd heading: 238.534328 deg.

2021-08-14T23:09:06.403Z,1628982546.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:06.791Z,1628982546.791 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:09:06.791Z,1628982546.791 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:09:06.791Z,1628982546.791 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:09:06.792Z,1628982546.792 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:09:07.199Z,1628982547.199 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21B,000,01BAC,187,80,80,5D,FF
2021-08-14T23:09:07.199Z,1628982547.199 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:09:07.199Z,1628982547.199 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:09:07.201Z,1628982547.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:09:07.602Z,1628982547.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:09:08.429Z,1628982548.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,01BC0,183,80,80,6A,FF
2021-08-14T23:09:08.429Z,1628982548.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:09:08.432Z,1628982548.432 [Micromodem](INFO): Nmea in: $SNTTA,,0.321189,,,230908.35*46

2021-08-14T23:09:08.854Z,1628982548.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 388.739960 m, bearing: 206.927602 deg, deltaT: 4.852911 s, approachRate: 0.247264 m/s, LOS rate: 3.032983 deg/s, posRepo size: 4
2021-08-14T23:09:08.856Z,1628982548.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 388.739960 m,
      bearing: 206.927602 deg,
      approachRate: 0.247264 m/s,
      LOS rate: 3.032983 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 291.666225 deg,
      new cmd heading: 296.198913 deg.

2021-08-14T23:09:11.273Z,1628982551.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:11.633Z,1628982551.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:09:11.633Z,1628982551.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:09:11.633Z,1628982551.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:09:11.634Z,1628982551.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:09:12.043Z,1628982552.043 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,01BC0,183,80,80,6A,FF
2021-08-14T23:09:12.043Z,1628982552.043 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:09:12.043Z,1628982552.043 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:09:12.045Z,1628982552.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:09:12.446Z,1628982552.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:09:13.277Z,1628982553.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,01BDC,189,80,80,42,FF
2021-08-14T23:09:13.277Z,1628982553.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:09:13.281Z,1628982553.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230913.19*5C

2021-08-14T23:09:13.692Z,1628982553.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 390.419983 m, bearing: 193.867844 deg, deltaT: 4.911136 s, approachRate: 0.342084 m/s, LOS rate: -2.659213 deg/s, posRepo size: 4
2021-08-14T23:09:13.694Z,1628982553.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 390.419983 m,
      bearing: 193.867844 deg,
      approachRate: 0.342084 m/s,
      LOS rate: -2.659213 deg/s,
      cmd update: -10.636853 deg/s,
      cmd heading: 350.501135 deg,
      new cmd heading: 354.469271 deg.

2021-08-14T23:09:16.144Z,1628982556.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:16.494Z,1628982556.494 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:09:16.495Z,1628982556.495 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:09:16.497Z,1628982556.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:09:16.508Z,1628982556.508 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:09:16.544Z,1628982556.544 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,01BDC,189,80,80,42,FF
2021-08-14T23:09:16.544Z,1628982556.544 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:09:16.544Z,1628982556.544 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:09:16.546Z,1628982556.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:09:16.948Z,1628982556.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:09:17.758Z,1628982557.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,214,000,01C01,186,80,80,8C,FF
2021-08-14T23:09:17.759Z,1628982557.759 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:09:17.762Z,1628982557.762 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230917.70*57

2021-08-14T23:09:18.242Z,1628982558.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 392.639984 m, bearing: 220.441637 deg, deltaT: 4.408428 s, approachRate: 0.503581 m/s, LOS rate: 6.027952 deg/s, posRepo size: 4
2021-08-14T23:09:18.245Z,1628982558.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 392.639984 m,
      bearing: 220.441637 deg,
      approachRate: 0.503581 m/s,
      LOS rate: 6.027952 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 303.521876 deg,
      new cmd heading: 298.576697 deg.

2021-08-14T23:09:20.599Z,1628982560.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:20.985Z,1628982560.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:09:20.985Z,1628982560.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:09:20.985Z,1628982560.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:09:20.987Z,1628982560.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:09:21.377Z,1628982561.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
214,000,01C01,186,80,80,8C,FF
2021-08-14T23:09:21.377Z,1628982561.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:09:21.377Z,1628982561.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:09:21.379Z,1628982561.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:09:21.781Z,1628982561.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:09:22.633Z,1628982562.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,01C36,187,80,80,44,FF
2021-08-14T23:09:22.633Z,1628982562.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:09:22.636Z,1628982562.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230922.53*50

2021-08-14T23:09:23.043Z,1628982563.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 395.819977 m, bearing: 286.366090 deg, deltaT: 4.874381 s, approachRate: 0.652389 m/s, LOS rate: 13.524682 deg/s, posRepo size: 4
2021-08-14T23:09:23.044Z,1628982563.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.524682 deg/s. Setting heading cmd to target bearing of 286.366090deg and heading rate command to 0 deg/s.
2021-08-14T23:09:25.461Z,1628982565.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:25.817Z,1628982565.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:09:25.817Z,1628982565.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:09:25.817Z,1628982565.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:09:25.818Z,1628982565.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:09:26.253Z,1628982566.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E77,000,01C36,187,80,80,44,FF
2021-08-14T23:09:26.253Z,1628982566.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:09:26.253Z,1628982566.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:09:26.255Z,1628982566.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:09:26.644Z,1628982566.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:09:27.445Z,1628982567.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230927.41*56

2021-08-14T23:09:28.334Z,1628982568.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:29.861Z,1628982569.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:29.861Z,1628982569.861 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:29.861Z,1628982569.861 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:09:31.103Z,1628982571.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:31.466Z,1628982571.466 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:09:31.466Z,1628982571.466 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:09:31.467Z,1628982571.467 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:09:31.468Z,1628982571.468 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:09:31.898Z,1628982571.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:31.899Z,1628982571.899 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:09:31.899Z,1628982571.899 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:09:31.901Z,1628982571.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:09:32.286Z,1628982572.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:09:33.109Z,1628982573.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230933.05*53

2021-08-14T23:09:33.923Z,1628982573.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:35.517Z,1628982575.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:35.517Z,1628982575.517 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:35.518Z,1628982575.518 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:09:36.779Z,1628982576.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:37.129Z,1628982577.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:09:37.129Z,1628982577.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:09:37.129Z,1628982577.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:09:37.130Z,1628982577.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:09:37.539Z,1628982577.539 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:37.540Z,1628982577.540 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:09:37.540Z,1628982577.540 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:09:37.542Z,1628982577.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:09:37.973Z,1628982577.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:09:38.770Z,1628982578.770 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230938.69*52

2021-08-14T23:09:39.597Z,1628982579.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:40.879Z,1628982580.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:40.891Z,1628982580.891 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:40.891Z,1628982580.891 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:09:42.438Z,1628982582.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:42.785Z,1628982582.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:09:42.785Z,1628982582.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:09:42.785Z,1628982582.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:09:42.786Z,1628982582.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:09:43.217Z,1628982583.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:43.217Z,1628982583.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:09:43.218Z,1628982583.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:09:43.219Z,1628982583.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:09:43.597Z,1628982583.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:09:44.421Z,1628982584.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230944.37*52

2021-08-14T23:09:45.275Z,1628982585.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:46.821Z,1628982586.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:46.822Z,1628982586.822 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:46.822Z,1628982586.822 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:09:48.097Z,1628982588.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:48.445Z,1628982588.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:09:48.445Z,1628982588.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:09:48.445Z,1628982588.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:09:48.446Z,1628982588.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:09:48.850Z,1628982588.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:48.850Z,1628982588.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:09:48.850Z,1628982588.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:09:48.853Z,1628982588.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:09:49.252Z,1628982589.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:09:50.082Z,1628982590.082 [Micromodem](INFO): Nmea in: $SNTTA,,0.451678,,,230950.01*45

2021-08-14T23:09:50.905Z,1628982590.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:52.481Z,1628982592.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:52.481Z,1628982592.481 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:52.481Z,1628982592.481 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:09:53.731Z,1628982593.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:54.105Z,1628982594.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:09:54.105Z,1628982594.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:09:54.105Z,1628982594.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:09:54.106Z,1628982594.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:09:54.509Z,1628982594.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:54.509Z,1628982594.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:09:54.509Z,1628982594.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:09:54.511Z,1628982594.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:09:54.918Z,1628982594.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:09:55.783Z,1628982595.783 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230955.66*56

2021-08-14T23:09:56.604Z,1628982596.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:58.133Z,1628982598.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:58.134Z,1628982598.134 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:09:58.134Z,1628982598.134 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:09:59.391Z,1628982599.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:09:59.761Z,1628982599.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:09:59.761Z,1628982599.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:09:59.761Z,1628982599.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:09:59.762Z,1628982599.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:10:00.157Z,1628982600.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:00.157Z,1628982600.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:10:00.158Z,1628982600.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:10:00.173Z,1628982600.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:10:00.570Z,1628982600.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:10:01.391Z,1628982601.391 [Micromodem](INFO): Nmea in: $SNTTA,0.373474,,,,231001.32*40

2021-08-14T23:10:02.255Z,1628982602.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:03.801Z,1628982603.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:03.801Z,1628982603.801 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:03.801Z,1628982603.801 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:10:05.035Z,1628982605.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:05.405Z,1628982605.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:10:05.405Z,1628982605.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:10:05.405Z,1628982605.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:10:05.406Z,1628982605.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:10:05.809Z,1628982605.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:05.809Z,1628982605.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:10:05.810Z,1628982605.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:10:05.811Z,1628982605.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:10:06.237Z,1628982606.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:10:07.046Z,1628982607.046 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231006.96*57

2021-08-14T23:10:07.867Z,1628982607.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:09.445Z,1628982609.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:09.445Z,1628982609.445 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:09.446Z,1628982609.446 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:10:10.683Z,1628982610.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:11.065Z,1628982611.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:10:11.065Z,1628982611.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:10:11.066Z,1628982611.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:10:11.066Z,1628982611.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:10:11.467Z,1628982611.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:11.467Z,1628982611.467 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:10:11.467Z,1628982611.467 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:10:11.469Z,1628982611.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:10:11.876Z,1628982611.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:10:12.706Z,1628982612.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231012.62*59

2021-08-14T23:10:13.529Z,1628982613.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:15.117Z,1628982615.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:15.117Z,1628982615.117 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:15.117Z,1628982615.117 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:10:16.399Z,1628982616.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:16.723Z,1628982616.723 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:10:16.723Z,1628982616.723 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:10:16.723Z,1628982616.723 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:10:16.724Z,1628982616.724 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:10:17.121Z,1628982617.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:17.121Z,1628982617.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:10:17.122Z,1628982617.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:10:17.123Z,1628982617.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:10:17.530Z,1628982617.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:10:18.398Z,1628982618.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231018.27*52

2021-08-14T23:10:19.286Z,1628982619.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:20.413Z,1628982620.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:20.414Z,1628982620.414 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:20.414Z,1628982620.414 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:10:22.094Z,1628982622.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:22.445Z,1628982622.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:10:22.445Z,1628982622.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:10:22.446Z,1628982622.446 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:10:22.446Z,1628982622.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:10:22.845Z,1628982622.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:22.845Z,1628982622.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:10:22.845Z,1628982622.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:10:22.847Z,1628982622.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:10:23.249Z,1628982623.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:10:24.082Z,1628982624.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231024.00*58

2021-08-14T23:10:24.887Z,1628982624.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:26.473Z,1628982626.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:26.473Z,1628982626.473 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:26.473Z,1628982626.473 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:10:27.706Z,1628982627.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:28.101Z,1628982628.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:10:28.101Z,1628982628.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:10:28.101Z,1628982628.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:10:28.102Z,1628982628.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:10:28.498Z,1628982628.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:28.498Z,1628982628.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:10:28.498Z,1628982628.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:10:28.500Z,1628982628.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:10:28.924Z,1628982628.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:10:29.730Z,1628982629.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231029.65*56

2021-08-14T23:10:30.561Z,1628982630.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:32.148Z,1628982632.148 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:32.149Z,1628982632.149 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:32.149Z,1628982632.149 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:10:32.245Z,1628982632.245 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T23:10:32.245Z,1628982632.245 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T23:10:32.246Z,1628982632.246 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T23:10:32.246Z,1628982632.246 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T23:10:32.246Z,1628982632.246 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T23:10:32.823Z,1628982632.823 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 064118610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-14T23:10:32.824Z,1628982632.824 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-14T23:10:32.825Z,1628982632.825 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB871E793B2479FA8C785D065A13A4285F50FA6FCD7F096641484133041AF9D2E814BEFBA058E2197489AE03C3FC62
2021-08-14T23:10:32.825Z,1628982632.825 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T23:10:33.082Z,1628982633.082 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T23:10:33.119Z,1628982633.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:33.481Z,1628982633.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:10:33.481Z,1628982633.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:10:33.481Z,1628982633.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:10:33.482Z,1628982633.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:10:33.489Z,1628982633.489 [Micromodem](INFO): Nmea in: $CADRQ,231033,1,10,0,64,1*76

2021-08-14T23:10:33.491Z,1628982633.491 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,064118610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*34

2021-08-14T23:10:33.901Z,1628982633.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:33.901Z,1628982633.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:10:33.901Z,1628982633.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:10:33.902Z,1628982633.902 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T23:10:33.903Z,1628982633.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:10:34.297Z,1628982634.297 [Micromodem](INFO): Nmea in: $CADRQ,231034,1,10,0,64,2*72

2021-08-14T23:10:34.297Z,1628982634.297 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,231034,1,10,0,64,2*72

2021-08-14T23:10:34.763Z,1628982634.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:10:35.186Z,1628982635.186 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231035.06*5E

2021-08-14T23:10:35.623Z,1628982635.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:37.189Z,1628982637.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:37.190Z,1628982637.190 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:37.191Z,1628982637.191 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:10:38.639Z,1628982638.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:38.816Z,1628982638.816 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:10:38.816Z,1628982638.816 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:10:38.816Z,1628982638.816 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:10:38.817Z,1628982638.817 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:10:39.237Z,1628982639.237 [DUSBL_Hydroid](INFO): DUSBL response received:E4
!U1,P
80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:39.237Z,1628982639.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:10:39.237Z,1628982639.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:10:39.239Z,1628982639.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:10:39.620Z,1628982639.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:10:40.047Z,1628982640.047 [Micromodem](INFO): Nmea in: $SNTTA,0.261344,0.261463,,,231040.39*52

2021-08-14T23:10:41.310Z,1628982641.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:42.849Z,1628982642.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:42.849Z,1628982642.849 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:42.849Z,1628982642.849 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:10:44.110Z,1628982644.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:44.473Z,1628982644.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:10:44.473Z,1628982644.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:10:44.473Z,1628982644.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:10:44.474Z,1628982644.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:10:44.873Z,1628982644.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:44.874Z,1628982644.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:10:44.874Z,1628982644.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:10:44.875Z,1628982644.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:10:45.489Z,1628982645.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:10:46.298Z,1628982646.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231046.03*5F

2021-08-14T23:10:46.735Z,1628982646.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:48.329Z,1628982648.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:48.329Z,1628982648.329 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:48.330Z,1628982648.330 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:10:49.557Z,1628982649.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:49.948Z,1628982649.948 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:10:49.948Z,1628982649.948 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:10:49.949Z,1628982649.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:10:49.950Z,1628982649.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:10:50.354Z,1628982650.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:50.354Z,1628982650.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:10:50.354Z,1628982650.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:10:50.356Z,1628982650.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:10:50.757Z,1628982650.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:10:51.640Z,1628982651.640 [Micromodem](INFO): Nmea in: $SNTTA,0.284030,,,,231051.51*4D

2021-08-14T23:10:52.116Z,1628982652.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:53.653Z,1628982653.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:53.653Z,1628982653.653 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:53.653Z,1628982653.653 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:10:54.918Z,1628982654.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:55.273Z,1628982655.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:10:55.273Z,1628982655.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:10:55.273Z,1628982655.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:10:55.274Z,1628982655.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:10:55.679Z,1628982655.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:55.680Z,1628982655.680 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:10:55.681Z,1628982655.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:10:55.683Z,1628982655.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:10:56.081Z,1628982656.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:10:57.732Z,1628982657.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:10:59.017Z,1628982659.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:59.017Z,1628982659.017 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:10:59.017Z,1628982659.017 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:11:00.463Z,1628982660.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:00.649Z,1628982660.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:11:00.649Z,1628982660.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:11:00.649Z,1628982660.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:11:00.650Z,1628982660.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:11:01.049Z,1628982661.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:01.050Z,1628982661.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:11:01.050Z,1628982661.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:11:01.052Z,1628982661.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:11:01.477Z,1628982661.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:11:02.295Z,1628982662.295 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231102.21*5E

2021-08-14T23:11:03.120Z,1628982663.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:03.883Z,1628982663.883 [Micromodem](INFO): Nmea in: $CAERR,231104,DATA_TIMEOUT,2*48

2021-08-14T23:11:04.287Z,1628982664.287 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-14T23:11:04.693Z,1628982664.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:04.693Z,1628982664.693 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:04.693Z,1628982664.693 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:11:05.534Z,1628982665.534 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-14T23:11:05.554Z,1628982665.554 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T23:11:05.907Z,1628982665.907 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,231104.688127,3,0,200,4000,14500,1,1,10,1,3,1,3,64,14500*55

2021-08-14T23:11:06.026Z,1628982666.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:06.325Z,1628982666.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:11:06.325Z,1628982666.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:11:06.325Z,1628982666.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:11:06.326Z,1628982666.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:11:06.713Z,1628982666.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:06.713Z,1628982666.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:11:06.713Z,1628982666.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:11:06.715Z,1628982666.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:11:07.295Z,1628982667.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:11:08.082Z,1628982668.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231107.87*57

2021-08-14T23:11:08.922Z,1628982668.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:10.113Z,1628982670.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:10.114Z,1628982670.114 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:10.114Z,1628982670.114 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:11:11.823Z,1628982671.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:12.193Z,1628982672.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:11:12.193Z,1628982672.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:11:12.193Z,1628982672.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:11:12.194Z,1628982672.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:11:12.590Z,1628982672.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:12.590Z,1628982672.590 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:11:12.591Z,1628982672.591 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:11:12.592Z,1628982672.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:11:12.992Z,1628982672.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:11:13.878Z,1628982673.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231113.74*5E

2021-08-14T23:11:14.391Z,1628982674.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:15.901Z,1628982675.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:15.902Z,1628982675.902 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:15.902Z,1628982675.902 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:11:17.401Z,1628982677.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:17.573Z,1628982677.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:11:17.573Z,1628982677.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:11:17.573Z,1628982677.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:11:17.574Z,1628982677.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:11:17.993Z,1628982677.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:17.994Z,1628982677.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:11:17.994Z,1628982677.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:11:17.995Z,1628982677.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:11:18.387Z,1628982678.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:11:19.199Z,1628982679.199 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231119.15*53

2021-08-14T23:11:20.119Z,1628982680.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:21.649Z,1628982681.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:21.649Z,1628982681.649 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:21.649Z,1628982681.649 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:11:22.895Z,1628982682.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:23.253Z,1628982683.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:11:23.253Z,1628982683.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:11:23.253Z,1628982683.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:11:23.254Z,1628982683.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:11:23.661Z,1628982683.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:23.661Z,1628982683.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:11:23.661Z,1628982683.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:11:23.663Z,1628982683.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:11:24.271Z,1628982684.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:11:24.659Z,1628982684.659 [Micromodem](INFO): Nmea in: $SNTTA,0.089546,0.325402,,,231124.81*54

2021-08-14T23:11:25.506Z,1628982685.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:27.245Z,1628982687.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:27.245Z,1628982687.245 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:27.245Z,1628982687.245 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:11:28.099Z,1628982688.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:28.465Z,1628982688.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:11:28.465Z,1628982688.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:11:28.465Z,1628982688.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:11:28.466Z,1628982688.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:11:28.865Z,1628982688.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:28.865Z,1628982688.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:11:28.866Z,1628982688.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:11:28.867Z,1628982688.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:11:29.264Z,1628982689.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:11:30.079Z,1628982690.079 [Micromodem](INFO): Nmea in: $SNTTA,0.329388,0.445385,,,231130.02*5E

2021-08-14T23:11:30.991Z,1628982690.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:32.199Z,1628982692.199 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:32.199Z,1628982692.199 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:32.199Z,1628982692.199 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:11:33.568Z,1628982693.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:33.927Z,1628982693.927 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:11:33.927Z,1628982693.927 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:11:33.929Z,1628982693.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:11:33.930Z,1628982693.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:11:34.317Z,1628982694.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:34.317Z,1628982694.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:11:34.317Z,1628982694.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:11:34.319Z,1628982694.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:11:34.726Z,1628982694.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:11:35.559Z,1628982695.559 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231135.48*55

2021-08-14T23:11:36.639Z,1628982696.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:37.645Z,1628982697.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:37.646Z,1628982697.646 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:37.646Z,1628982697.646 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:11:38.058Z,1628982698.058 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T23:11:38.623Z,1628982698.623 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 064118610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-14T23:11:38.624Z,1628982698.624 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-14T23:11:38.624Z,1628982698.624 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB871E793B2479FA8C785D065A13A4285F50FA6FCD7F096641484133041AF9D2E814BEFBA058E2197489AE03C3FC62
2021-08-14T23:11:38.625Z,1628982698.625 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T23:11:39.070Z,1628982699.070 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T23:11:39.470Z,1628982699.470 [Micromodem](INFO): Nmea in: $CADRQ,231139,1,10,0,64,1*7D

2021-08-14T23:11:39.471Z,1628982699.471 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,064118610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*34

2021-08-14T23:11:39.663Z,1628982699.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:39.873Z,1628982699.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:11:39.873Z,1628982699.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:11:39.873Z,1628982699.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:11:39.874Z,1628982699.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:11:39.880Z,1628982699.880 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T23:11:40.290Z,1628982700.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:40.290Z,1628982700.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:11:40.291Z,1628982700.291 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:11:40.293Z,1628982700.293 [Micromodem](INFO): Nmea in: $CADRQ,231140,1,10,0,64,2*70

2021-08-14T23:11:40.294Z,1628982700.294 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB*42

2021-08-14T23:11:40.687Z,1628982700.687 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T23:11:40.687Z,1628982700.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:11:41.102Z,1628982701.102 [Micromodem](INFO): Nmea in: $CADRQ,231141,1,10,0,64,3*70

2021-08-14T23:11:41.102Z,1628982701.102 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,231141,1,10,0,64,3*70

2021-08-14T23:11:41.493Z,1628982701.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:11:42.315Z,1628982702.315 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231141.93*50

2021-08-14T23:11:42.337Z,1628982702.337 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:11:42.395Z,1628982702.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:44.337Z,1628982704.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:44.337Z,1628982704.337 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:44.338Z,1628982704.338 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:11:44.958Z,1628982704.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:45.155Z,1628982705.155 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:11:45.155Z,1628982705.155 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:11:45.158Z,1628982705.158 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:11:45.159Z,1628982705.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:11:45.554Z,1628982705.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:45.554Z,1628982705.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:11:45.554Z,1628982705.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:11:45.556Z,1628982705.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:11:46.008Z,1628982706.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:11:46.790Z,1628982706.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231146.71*5B

2021-08-14T23:11:47.593Z,1628982707.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:49.218Z,1628982709.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:49.218Z,1628982709.218 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:49.218Z,1628982709.218 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:11:50.129Z,1628982710.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:50.486Z,1628982710.486 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:11:50.486Z,1628982710.486 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:11:50.486Z,1628982710.486 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:11:50.487Z,1628982710.487 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:11:50.881Z,1628982710.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:50.881Z,1628982710.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:11:50.881Z,1628982710.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:11:50.883Z,1628982710.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:11:51.311Z,1628982711.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:11:52.143Z,1628982712.143 [Micromodem](INFO): Nmea in: $SNTTA,0.340330,0.478709,,,231152.03*59

2021-08-14T23:11:52.948Z,1628982712.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:54.545Z,1628982714.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:54.545Z,1628982714.545 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:54.545Z,1628982714.545 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:11:56.057Z,1628982716.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:11:56.261Z,1628982716.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:11:56.261Z,1628982716.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:11:56.261Z,1628982716.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:11:56.262Z,1628982716.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:11:56.634Z,1628982716.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:11:56.636Z,1628982716.636 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:11:56.636Z,1628982716.636 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:11:56.639Z,1628982716.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:11:57.025Z,1628982717.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:11:57.850Z,1628982717.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231157.79*53

2021-08-14T23:11:58.794Z,1628982718.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:00.002Z,1628982720.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:00.003Z,1628982720.003 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:00.003Z,1628982720.003 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:12:01.665Z,1628982721.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:02.029Z,1628982722.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:12:02.029Z,1628982722.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:12:02.029Z,1628982722.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:12:02.030Z,1628982722.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:12:02.092Z,1628982722.092 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T23:12:02.390Z,1628982722.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:02.390Z,1628982722.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:12:02.390Z,1628982722.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:12:02.392Z,1628982722.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:12:02.917Z,1628982722.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:12:03.706Z,1628982723.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231203.54*5E

2021-08-14T23:12:04.263Z,1628982724.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:05.733Z,1628982725.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:05.733Z,1628982725.733 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:05.734Z,1628982725.734 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:12:06.963Z,1628982726.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:07.354Z,1628982727.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:12:07.354Z,1628982727.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:12:07.354Z,1628982727.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:12:07.355Z,1628982727.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:12:07.745Z,1628982727.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:07.745Z,1628982727.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:12:07.745Z,1628982727.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:12:07.747Z,1628982727.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:12:08.183Z,1628982728.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:12:09.002Z,1628982729.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231208.90*5D

2021-08-14T23:12:09.834Z,1628982729.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:10.579Z,1628982730.579 [Micromodem](INFO): Nmea in: $CAERR,231211,DATA_TIMEOUT,3*4E

2021-08-14T23:12:10.986Z,1628982730.986 [Micromodem](INFO): Nmea in: $CATXP,128*49

2021-08-14T23:12:11.387Z,1628982731.387 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:11.387Z,1628982731.387 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:11.387Z,1628982731.387 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:12:12.611Z,1628982732.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:12.998Z,1628982732.998 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:12:12.998Z,1628982732.998 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:12:12.998Z,1628982732.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:12:12.999Z,1628982732.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:12:13.405Z,1628982733.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:13.406Z,1628982733.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:12:13.406Z,1628982733.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:12:13.407Z,1628982733.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:12:13.818Z,1628982733.818 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2021-08-14T23:12:13.819Z,1628982733.819 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F

2021-08-14T23:12:14.243Z,1628982734.243 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,231211.503986,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*6B

2021-08-14T23:12:14.244Z,1628982734.244 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,231211.503986,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*6B

2021-08-14T23:12:15.286Z,1628982735.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:18.037Z,1628982738.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:19.165Z,1628982739.165 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.164611
2021-08-14T23:12:20.903Z,1628982740.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:21.178Z,1628982741.178 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:12:21.178Z,1628982741.178 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:12:21.179Z,1628982741.179 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:12:21.183Z,1628982741.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:12:21.642Z,1628982741.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:21.643Z,1628982741.643 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:12:21.643Z,1628982741.643 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:12:23.513Z,1628982743.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:24.482Z,1628982744.482 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:12:24.881Z,1628982744.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:12:25.718Z,1628982745.718 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231225.63*5E

2021-08-14T23:12:26.169Z,1628982746.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:27.320Z,1628982747.320 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.136617
2021-08-14T23:12:28.201Z,1628982748.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:28.202Z,1628982748.202 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:28.202Z,1628982748.202 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:12:29.046Z,1628982749.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:29.401Z,1628982749.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:12:29.401Z,1628982749.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:12:29.401Z,1628982749.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:12:29.402Z,1628982749.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:12:29.801Z,1628982749.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:29.801Z,1628982749.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:12:29.801Z,1628982749.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:12:29.803Z,1628982749.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:12:30.498Z,1628982750.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:12:31.766Z,1628982751.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:33.313Z,1628982753.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:33.313Z,1628982753.313 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:33.313Z,1628982753.313 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:12:34.421Z,1628982754.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:34.573Z,1628982754.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:12:34.573Z,1628982754.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:12:34.573Z,1628982754.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:12:34.574Z,1628982754.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:12:34.990Z,1628982754.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:34.990Z,1628982754.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:12:34.990Z,1628982754.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:12:34.994Z,1628982754.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:12:35.401Z,1628982755.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:12:36.230Z,1628982756.230 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231236.15*5D

2021-08-14T23:12:37.119Z,1628982757.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:38.302Z,1628982758.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:38.302Z,1628982758.302 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:38.302Z,1628982758.302 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:12:39.995Z,1628982759.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:40.314Z,1628982760.314 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:12:40.314Z,1628982760.314 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:12:40.314Z,1628982760.314 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:12:40.315Z,1628982760.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:12:40.780Z,1628982760.780 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:40.780Z,1628982760.780 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:12:40.781Z,1628982760.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:12:40.783Z,1628982760.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:12:41.756Z,1628982761.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:12:42.160Z,1628982762.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231241.94*54

2021-08-14T23:12:42.622Z,1628982762.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:43.778Z,1628982763.778 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T23:12:44.197Z,1628982764.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:44.198Z,1628982764.198 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:44.198Z,1628982764.198 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:12:44.420Z,1628982764.420 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 064118610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-14T23:12:44.421Z,1628982764.421 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-14T23:12:44.421Z,1628982764.421 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB871E793B2479FA8C785D065A13A4285F50FA6FCD7F096641484133041AF9D2E814BEFBA058E2197489AE03C3FC62
2021-08-14T23:12:44.422Z,1628982764.422 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T23:12:44.715Z,1628982764.715 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T23:12:45.115Z,1628982765.115 [Micromodem](INFO): Nmea in: $CADRQ,231245,1,10,0,64,1*75

2021-08-14T23:12:45.115Z,1628982765.115 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,064118610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*34

2021-08-14T23:12:45.227Z,1628982765.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:45.518Z,1628982765.518 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:12:45.518Z,1628982765.518 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:12:45.518Z,1628982765.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:12:45.519Z,1628982765.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:12:45.526Z,1628982765.526 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T23:12:45.921Z,1628982765.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:45.921Z,1628982765.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:12:45.921Z,1628982765.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:12:45.923Z,1628982765.923 [Micromodem](INFO): Nmea in: $CADRQ,231246,1,10,0,64,2*75

2021-08-14T23:12:45.927Z,1628982765.927 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB*42

2021-08-14T23:12:46.335Z,1628982766.335 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T23:12:46.335Z,1628982766.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:12:46.747Z,1628982766.747 [Micromodem](INFO): Nmea in: $CADRQ,231247,1,10,0,64,3*75

2021-08-14T23:12:46.747Z,1628982766.747 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,231247,1,10,0,64,3*75

2021-08-14T23:12:47.164Z,1628982767.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:12:47.566Z,1628982767.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231247.49*52

2021-08-14T23:12:47.780Z,1628982767.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:49.649Z,1628982769.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:49.649Z,1628982769.649 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:49.649Z,1628982769.649 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:12:50.510Z,1628982770.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:50.853Z,1628982770.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:12:50.853Z,1628982770.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:12:50.853Z,1628982770.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:12:50.854Z,1628982770.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:12:51.269Z,1628982771.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:51.269Z,1628982771.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:12:51.269Z,1628982771.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:12:51.271Z,1628982771.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:12:51.687Z,1628982771.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:12:52.478Z,1628982772.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231252.42*5D

2021-08-14T23:12:53.338Z,1628982773.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:54.550Z,1628982774.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:54.550Z,1628982774.550 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:12:54.550Z,1628982774.550 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:12:56.451Z,1628982776.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:12:56.613Z,1628982776.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:12:56.613Z,1628982776.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:12:56.613Z,1628982776.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:12:56.614Z,1628982776.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:12:57.018Z,1628982777.018 [DUSBL_Hydroid](INFO): DUSBL response received:0,63,E4
!U1,P
,E4
6,187,80,80,44,FF
2021-08-14T23:12:57.018Z,1628982777.018 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:12:57.018Z,1628982777.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:12:57.020Z,1628982777.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:12:57.416Z,1628982777.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:12:58.254Z,1628982778.254 [Micromodem](INFO): Nmea in: $SNTTA,0.409358,,,,231258.17*4A

2021-08-14T23:12:59.063Z,1628982779.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:00.749Z,1628982780.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:00.749Z,1628982780.749 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:00.750Z,1628982780.750 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:13:01.618Z,1628982781.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:01.992Z,1628982781.992 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:13:01.992Z,1628982781.992 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:13:01.993Z,1628982781.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:13:01.993Z,1628982781.993 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:13:02.361Z,1628982782.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:02.361Z,1628982782.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:13:02.361Z,1628982782.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:13:02.363Z,1628982782.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:13:02.941Z,1628982782.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:13:03.751Z,1628982783.751 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231303.52*59

2021-08-14T23:13:04.262Z,1628982784.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:05.761Z,1628982785.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:05.761Z,1628982785.761 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:05.762Z,1628982785.762 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:13:06.837Z,1628982786.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:07.001Z,1628982787.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:13:07.001Z,1628982787.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:13:07.001Z,1628982787.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:13:07.002Z,1628982787.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:13:07.407Z,1628982787.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:07.407Z,1628982787.407 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:13:07.407Z,1628982787.407 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:13:07.409Z,1628982787.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:13:07.816Z,1628982787.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:13:08.638Z,1628982788.638 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231308.56*56

2021-08-14T23:13:09.466Z,1628982789.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:11.037Z,1628982791.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:11.037Z,1628982791.037 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:11.037Z,1628982791.037 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:13:12.309Z,1628982792.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:12.649Z,1628982792.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:13:12.649Z,1628982792.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:13:12.649Z,1628982792.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:13:12.650Z,1628982792.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:13:13.065Z,1628982793.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:13.065Z,1628982793.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:13:13.066Z,1628982793.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:13:13.067Z,1628982793.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:13:13.653Z,1628982793.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:13:14.450Z,1628982794.450 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231314.22*58

2021-08-14T23:13:14.930Z,1628982794.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:16.246Z,1628982796.246 [Micromodem](INFO): Nmea in: $CAERR,231317,DATA_TIMEOUT,3*49

2021-08-14T23:13:16.625Z,1628982796.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:16.625Z,1628982796.625 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:16.625Z,1628982796.625 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:13:16.626Z,1628982796.626 [Micromodem](INFO): Nmea in: $CATXP,128*49

2021-08-14T23:13:17.490Z,1628982797.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:17.841Z,1628982797.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:13:17.841Z,1628982797.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:13:17.841Z,1628982797.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:13:17.842Z,1628982797.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:13:18.254Z,1628982798.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:18.254Z,1628982798.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:13:18.254Z,1628982798.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:13:18.257Z,1628982798.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:13:19.462Z,1628982799.462 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2021-08-14T23:13:19.462Z,1628982799.462 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F

2021-08-14T23:13:19.901Z,1628982799.901 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,231317.137709,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*66

2021-08-14T23:13:19.902Z,1628982799.902 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,231317.137709,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*66

2021-08-14T23:13:20.358Z,1628982800.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:23.214Z,1628982803.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:24.004Z,1628982804.004 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.161719
2021-08-14T23:13:26.343Z,1628982806.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:26.513Z,1628982806.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:13:26.513Z,1628982806.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:13:26.513Z,1628982806.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:13:26.514Z,1628982806.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:13:26.919Z,1628982806.919 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:26.919Z,1628982806.919 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:13:26.919Z,1628982806.919 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:13:29.022Z,1628982809.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:29.413Z,1628982809.413 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:13:29.816Z,1628982809.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:13:30.666Z,1628982810.666 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231330.57*5C

2021-08-14T23:13:31.848Z,1628982811.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:32.656Z,1628982812.656 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.141722
2021-08-14T23:13:33.077Z,1628982813.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:33.078Z,1628982813.078 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:33.078Z,1628982813.078 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:13:34.404Z,1628982814.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:34.682Z,1628982814.682 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:13:34.682Z,1628982814.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:13:34.683Z,1628982814.683 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:13:34.683Z,1628982814.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:13:35.096Z,1628982815.096 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:35.096Z,1628982815.096 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:13:35.096Z,1628982815.096 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:13:35.098Z,1628982815.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:13:35.492Z,1628982815.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:13:36.343Z,1628982816.343 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231336.25*5F

2021-08-14T23:13:37.159Z,1628982817.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:38.728Z,1628982818.728 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:38.728Z,1628982818.728 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:38.728Z,1628982818.728 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:13:40.106Z,1628982820.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:40.397Z,1628982820.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:13:40.397Z,1628982820.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:13:40.397Z,1628982820.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:13:40.398Z,1628982820.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:13:40.798Z,1628982820.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:40.798Z,1628982820.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:13:40.798Z,1628982820.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:13:40.800Z,1628982820.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:13:41.232Z,1628982821.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:13:42.206Z,1628982822.206 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231341.95*54

2021-08-14T23:13:42.658Z,1628982822.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:44.248Z,1628982824.248 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:44.249Z,1628982824.249 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:44.249Z,1628982824.249 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:13:45.651Z,1628982825.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:45.841Z,1628982825.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:13:45.841Z,1628982825.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:13:45.841Z,1628982825.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:13:45.842Z,1628982825.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:13:46.246Z,1628982826.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:46.246Z,1628982826.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:13:46.246Z,1628982826.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:13:46.248Z,1628982826.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:13:46.685Z,1628982826.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:13:47.486Z,1628982827.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231347.40*5A

2021-08-14T23:13:48.342Z,1628982828.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:49.494Z,1628982829.494 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T23:13:49.893Z,1628982829.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:49.893Z,1628982829.893 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:49.893Z,1628982829.893 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:13:50.161Z,1628982830.161 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 064118610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-14T23:13:50.164Z,1628982830.164 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-14T23:13:50.166Z,1628982830.166 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB871E793B2479FA8C785D065A13A4285F50FA6FCD7F096641484133041AF9D2E814BEFBA058E2197489AE03C3FC62
2021-08-14T23:13:50.167Z,1628982830.167 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T23:13:50.465Z,1628982830.465 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T23:13:50.850Z,1628982830.850 [Micromodem](INFO): Nmea in: $CADRQ,231351,1,10,0,64,1*71

2021-08-14T23:13:50.851Z,1628982830.851 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,064118610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*34

2021-08-14T23:13:50.962Z,1628982830.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:51.254Z,1628982831.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:13:51.254Z,1628982831.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:13:51.254Z,1628982831.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:13:51.255Z,1628982831.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:13:51.264Z,1628982831.264 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T23:13:51.677Z,1628982831.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:51.677Z,1628982831.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:13:51.677Z,1628982831.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:13:51.679Z,1628982831.679 [Micromodem](INFO): Nmea in: $CADRQ,231351,1,10,0,64,2*72

2021-08-14T23:13:51.679Z,1628982831.679 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB*42

2021-08-14T23:13:52.292Z,1628982832.292 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T23:13:52.293Z,1628982832.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:13:52.737Z,1628982832.737 [Micromodem](INFO): Nmea in: $CADRQ,231352,1,10,0,64,3*70

2021-08-14T23:13:52.737Z,1628982832.737 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,231352,1,10,0,64,3*70

2021-08-14T23:13:53.140Z,1628982833.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:13:53.538Z,1628982833.538 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231353.45*5A

2021-08-14T23:13:53.594Z,1628982833.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:55.689Z,1628982835.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:55.689Z,1628982835.689 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:55.689Z,1628982835.689 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:13:56.147Z,1628982836.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:13:56.505Z,1628982836.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:13:56.505Z,1628982836.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:13:56.505Z,1628982836.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:13:56.506Z,1628982836.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:13:56.901Z,1628982836.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:13:56.901Z,1628982836.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:13:56.901Z,1628982836.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:13:56.903Z,1628982836.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:13:57.324Z,1628982837.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:13:58.160Z,1628982838.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231358.06*56

2021-08-14T23:13:58.696Z,1628982838.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:00.290Z,1628982840.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:14:00.291Z,1628982840.291 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:14:00.291Z,1628982840.291 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:14:01.273Z,1628982841.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:01.613Z,1628982841.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:14:01.613Z,1628982841.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:14:01.613Z,1628982841.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:14:01.614Z,1628982841.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:14:02.045Z,1628982842.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:14:02.045Z,1628982842.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:14:02.046Z,1628982842.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:14:02.047Z,1628982842.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:14:02.476Z,1628982842.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:14:03.295Z,1628982843.295 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231403.20*5B

2021-08-14T23:14:04.137Z,1628982844.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:05.322Z,1628982845.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:14:05.322Z,1628982845.322 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:14:05.322Z,1628982845.322 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:14:06.205Z,1628982846.205 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T23:14:06.988Z,1628982846.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:07.345Z,1628982847.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:14:07.345Z,1628982847.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:14:07.345Z,1628982847.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:14:07.346Z,1628982847.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:14:07.745Z,1628982847.745 [DUSBL_Hydroid](INFO): DUSBL response received:80,63,E4
!U1,P
E4
6,187,80,80,44,FF
2021-08-14T23:14:07.745Z,1628982847.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:14:07.745Z,1628982847.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:14:07.747Z,1628982847.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:14:08.145Z,1628982848.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:14:09.606Z,1628982849.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:11.401Z,1628982851.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:14:11.401Z,1628982851.401 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:14:11.401Z,1628982851.401 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:14:12.341Z,1628982852.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:12.673Z,1628982852.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:14:12.673Z,1628982852.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:14:12.673Z,1628982852.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:14:12.674Z,1628982852.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:14:13.061Z,1628982853.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:14:13.061Z,1628982853.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:14:13.062Z,1628982853.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:14:13.063Z,1628982853.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:14:13.471Z,1628982853.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:14:14.300Z,1628982854.300 [Micromodem](INFO): Nmea in: $SNTTA,0.386550,0.387550,,,231414.22*5E

2021-08-14T23:14:15.130Z,1628982855.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:16.419Z,1628982856.419 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:14:16.419Z,1628982856.419 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:14:16.419Z,1628982856.419 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:14:17.658Z,1628982857.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:18.044Z,1628982858.044 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:14:18.044Z,1628982858.044 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:14:18.045Z,1628982858.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:14:18.046Z,1628982858.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:14:18.622Z,1628982858.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:14:18.622Z,1628982858.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:14:18.623Z,1628982858.623 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:14:18.624Z,1628982858.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:14:19.016Z,1628982859.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:14:19.857Z,1628982859.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231419.78*5D

2021-08-14T23:14:20.314Z,1628982860.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:21.854Z,1628982861.854 [Micromodem](INFO): Nmea in: $CAERR,231422,DATA_TIMEOUT,3*48

2021-08-14T23:14:22.250Z,1628982862.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:14:22.250Z,1628982862.250 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:14:22.250Z,1628982862.250 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:14:22.251Z,1628982862.251 [Micromodem](INFO): Nmea in: $CATXP,128*49

2021-08-14T23:14:23.200Z,1628982863.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout] Running Loop=1
2021-08-14T23:14:23.200Z,1628982863.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout
2021-08-14T23:14:23.200Z,1628982863.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:A] Running Loop=1
2021-08-14T23:14:23.201Z,1628982863.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:A](IMPORTANT): Acoustic timeout! Received last range of 395.819977 m  5.001428 min ago.
2021-08-14T23:14:23.202Z,1628982863.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:A] Stopped
2021-08-14T23:14:23.202Z,1628982863.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:B] Running Loop=1
2021-08-14T23:14:23.208Z,1628982863.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:23.529Z,1628982863.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:14:23.529Z,1628982863.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:14:23.529Z,1628982863.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:14:23.530Z,1628982863.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:14:23.600Z,1628982863.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:B] Stopped
2021-08-14T23:14:23.600Z,1628982863.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout
2021-08-14T23:14:23.600Z,1628982863.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout] Stopped
2021-08-14T23:14:23.600Z,1628982863.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout
2021-08-14T23:14:23.937Z,1628982863.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:14:23.938Z,1628982863.938 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:14:23.938Z,1628982863.938 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:14:23.953Z,1628982863.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:14:24.010Z,1628982864.010 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T23:14:24.011Z,1628982864.011 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T23:14:24.011Z,1628982864.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T23:14:24.016Z,1628982864.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T23:14:24.016Z,1628982864.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T23:14:24.017Z,1628982864.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T23:14:24.017Z,1628982864.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T23:14:24.017Z,1628982864.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T23:14:24.017Z,1628982864.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T23:14:24.017Z,1628982864.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-14T23:14:24.017Z,1628982864.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T23:14:24.017Z,1628982864.017 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T23:14:24.017Z,1628982864.017 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T23:14:24.018Z,1628982864.018 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T23:14:24.018Z,1628982864.018 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T23:14:24.018Z,1628982864.018 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T23:14:24.018Z,1628982864.018 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T23:14:24.018Z,1628982864.018 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T23:14:24.018Z,1628982864.018 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T23:14:24.018Z,1628982864.018 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T23:14:24.025Z,1628982864.025 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-14T23:14:24.025Z,1628982864.025 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T23:14:24.025Z,1628982864.025 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-14T23:14:24.025Z,1628982864.025 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-14T23:14:25.122Z,1628982865.122 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2021-08-14T23:14:25.122Z,1628982865.122 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F

2021-08-14T23:14:25.513Z,1628982865.513 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,231422.891366,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*6F

2021-08-14T23:14:25.513Z,1628982865.513 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,231422.891366,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*6F

2021-08-14T23:14:26.001Z,1628982866.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:29.030Z,1628982869.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:29.572Z,1628982869.572 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.041962
2021-08-14T23:14:31.617Z,1628982871.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:32.000Z,1628982872.000 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:14:32.001Z,1628982872.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:14:32.001Z,1628982872.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:14:32.002Z,1628982872.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:14:32.389Z,1628982872.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,44,FF
2021-08-14T23:14:32.389Z,1628982872.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:14:32.390Z,1628982872.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:14:34.453Z,1628982874.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:35.219Z,1628982875.219 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:14:35.641Z,1628982875.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:14:36.443Z,1628982876.443 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231436.37*5B

2021-08-14T23:14:36.842Z,1628982876.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,02B87,186,80,80,43,FF
2021-08-14T23:14:36.842Z,1628982876.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:14:37.737Z,1628982877.737 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-14T23:14:37.738Z,1628982877.738 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T23:14:37.738Z,1628982877.738 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-14T23:14:37.738Z,1628982877.738 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 631.079956 m 
2021-08-14T23:14:37.738Z,1628982877.738 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-14T23:14:37.739Z,1628982877.739 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-14T23:14:38.207Z,1628982878.207 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-14T23:14:38.212Z,1628982878.212 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T23:14:38.212Z,1628982878.212 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-14T23:14:38.212Z,1628982878.212 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T23:14:38.589Z,1628982878.589 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T23:14:38.589Z,1628982878.589 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T23:14:38.591Z,1628982878.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T23:14:38.591Z,1628982878.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T23:14:38.591Z,1628982878.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T23:14:38.591Z,1628982878.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T23:14:38.591Z,1628982878.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T23:14:38.593Z,1628982878.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T23:14:38.593Z,1628982878.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T23:14:38.593Z,1628982878.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T23:14:38.593Z,1628982878.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T23:14:38.595Z,1628982878.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-14T23:14:38.595Z,1628982878.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T23:14:38.595Z,1628982878.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-14T23:14:38.595Z,1628982878.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-14T23:14:38.612Z,1628982878.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T23:14:38.612Z,1628982878.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T23:14:38.613Z,1628982878.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 420.00 sec.
2021-08-14T23:14:38.614Z,1628982878.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T23:14:38.614Z,1628982878.614 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T23:14:38.614Z,1628982878.614 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T23:14:38.615Z,1628982878.615 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T23:14:38.615Z,1628982878.615 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T23:14:38.615Z,1628982878.615 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T23:14:38.615Z,1628982878.615 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T23:14:38.615Z,1628982878.615 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T23:14:38.615Z,1628982878.615 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-14T23:14:38.615Z,1628982878.615 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-14T23:14:38.951Z,1628982878.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 631.079956 m, bearing: 338.859482 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T23:14:38.956Z,1628982878.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 338.859482deg and heading rate command to 0 deg/s.
2021-08-14T23:14:39.839Z,1628982879.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:40.176Z,1628982880.176 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:14:40.177Z,1628982880.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:14:40.178Z,1628982880.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:14:40.179Z,1628982880.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:14:40.259Z,1628982880.259 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T23:14:40.649Z,1628982880.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,02B87,186,80,80,43,FF
2021-08-14T23:14:40.649Z,1628982880.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:14:40.650Z,1628982880.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:14:40.651Z,1628982880.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:14:41.055Z,1628982881.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:14:41.910Z,1628982881.910 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231441.80*57

2021-08-14T23:14:42.505Z,1628982882.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,02BB1,186,80,80,47,FF
2021-08-14T23:14:42.506Z,1628982882.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:14:42.949Z,1628982882.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 633.599976 m, bearing: 8.756365 deg, deltaT: 5.648682 s, approachRate: 0.446125 m/s, LOS rate: 5.292717 deg/s, posRepo size: 2
2021-08-14T23:14:42.951Z,1628982882.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 633.599976 m,
      bearing: 8.756365 deg,
      approachRate: 0.446125 m/s,
      LOS rate: 5.292717 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 338.859482 deg,
      new cmd heading: 338.859482 deg.

2021-08-14T23:14:45.386Z,1628982885.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:45.729Z,1628982885.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:14:45.729Z,1628982885.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:14:45.730Z,1628982885.730 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:14:45.731Z,1628982885.731 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:14:46.133Z,1628982886.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E86,000,02BB1,186,80,80,47,FF
2021-08-14T23:14:46.133Z,1628982886.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:14:46.134Z,1628982886.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:14:46.139Z,1628982886.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:14:46.559Z,1628982886.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:14:47.374Z,1628982887.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231447.29*52

2021-08-14T23:14:48.253Z,1628982888.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:49.410Z,1628982889.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,E86,000,02BB1,186,80,80,47,FF
2021-08-14T23:14:49.410Z,1628982889.410 [DUSBL_Hydroid](INFO): No reply:!U1,N,E86,000,02BB1,186,80,80,47,FF
2021-08-14T23:14:49.410Z,1628982889.410 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:14:50.862Z,1628982890.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:51.033Z,1628982891.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:14:51.033Z,1628982891.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:14:51.033Z,1628982891.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:14:51.034Z,1628982891.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:14:51.437Z,1628982891.437 [DUSBL_Hydroid](INFO): DUSBL response received:80,80,63,E4
!U1,P
1,186,80,80,47,FF
2021-08-14T23:14:51.437Z,1628982891.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:14:51.438Z,1628982891.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:14:51.439Z,1628982891.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:14:51.853Z,1628982891.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:14:52.671Z,1628982892.671 [Micromodem](INFO): Nmea in: $SNTTA,0.199553,,,,231452.59*4D

2021-08-14T23:14:53.490Z,1628982893.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:53.862Z,1628982893.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC9,000,05B64,188,80,80,47,FF
2021-08-14T23:14:53.862Z,1628982893.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:14:54.337Z,1628982894.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1366.260010 m, bearing: 60.385641 deg, deltaT: 11.362512 s, approachRate: 64.480461 m/s, LOS rate: 4.543826 deg/s, posRepo size: 3
2021-08-14T23:14:54.339Z,1628982894.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1366.260010 m,
      bearing: 60.385641 deg,
      approachRate: 64.480461 m/s,
      LOS rate: 4.543826 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 115.156661 deg,
      new cmd heading: 120.270581 deg.

2021-08-14T23:14:55.623Z,1628982895.623 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T23:14:56.259Z,1628982896.259 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 064118610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-14T23:14:56.260Z,1628982896.260 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-14T23:14:56.261Z,1628982896.261 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB871E793B2479FA8C785D065A13A4285F50FA6FCD7F096641484133041AF9D2E814BEFBA058E2197489AE03C3FC62
2021-08-14T23:14:56.261Z,1628982896.261 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T23:14:56.484Z,1628982896.484 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T23:14:56.539Z,1628982896.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:14:56.889Z,1628982896.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:14:56.889Z,1628982896.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:14:56.889Z,1628982896.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:14:56.890Z,1628982896.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:14:56.897Z,1628982896.897 [Micromodem](INFO): Nmea in: $CADRQ,231457,1,10,0,64,1*70

2021-08-14T23:14:56.900Z,1628982896.900 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,064118610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*34

2021-08-14T23:14:57.283Z,1628982897.283 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC9,000,05B64,188,80,80,47,FF
2021-08-14T23:14:57.283Z,1628982897.283 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:14:57.283Z,1628982897.283 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:14:57.286Z,1628982897.286 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T23:14:57.288Z,1628982897.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:14:57.755Z,1628982897.755 [Micromodem](INFO): Nmea in: $CADRQ,231458,1,10,0,64,2*7C

2021-08-14T23:14:57.755Z,1628982897.755 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,231458,1,10,0,64,2*7C

2021-08-14T23:14:58.166Z,1628982898.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:14:58.546Z,1628982898.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0199F,18A,80,80,7C,FF
2021-08-14T23:14:58.547Z,1628982898.547 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:14:58.549Z,1628982898.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231458.44*57

2021-08-14T23:14:58.990Z,1628982898.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 356.040009 m, bearing: 113.863338 deg, deltaT: 4.684980 s, approachRate: -215.629517 m/s, LOS rate: 11.414712 deg/s, posRepo size: 4
2021-08-14T23:14:58.992Z,1628982898.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 356.040009 m,
      bearing: 113.863338 deg,
      approachRate: -215.629517 m/s,
      LOS rate: 11.414712 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 171.381210 deg,
      new cmd heading: 176.112846 deg.

2021-08-14T23:15:01.437Z,1628982901.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:15:01.790Z,1628982901.790 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:15:01.790Z,1628982901.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:15:01.796Z,1628982901.796 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:15:01.797Z,1628982901.797 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:15:02.249Z,1628982902.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0199F,18A,80,80,7C,FF
2021-08-14T23:15:02.249Z,1628982902.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:15:02.250Z,1628982902.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:15:02.251Z,1628982902.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:15:02.637Z,1628982902.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:15:03.437Z,1628982903.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231503.41*5D

2021-08-14T23:15:03.845Z,1628982903.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCD,000,02AE2,189,80,80,78,FF
2021-08-14T23:15:03.846Z,1628982903.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:15:04.384Z,1628982904.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 621.179993 m, bearing: 109.230837 deg, deltaT: 5.617504 s, approachRate: 47.198895 m/s, LOS rate: -0.824655 deg/s, posRepo size: 4
2021-08-14T23:15:04.386Z,1628982904.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 621.179993 m,
      bearing: 109.230837 deg,
      approachRate: 47.198895 m/s,
      LOS rate: -0.824655 deg/s,
      cmd update: -3.298619 deg/s,
      cmd heading: 238.802540 deg,
      new cmd heading: 240.834752 deg.

2021-08-14T23:15:06.808Z,1628982906.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:15:07.145Z,1628982907.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:15:07.145Z,1628982907.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:15:07.145Z,1628982907.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:15:07.146Z,1628982907.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:15:07.553Z,1628982907.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCD,000,02AE2,189,80,80,78,FF
2021-08-14T23:15:07.553Z,1628982907.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:15:07.553Z,1628982907.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:15:07.555Z,1628982907.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:15:07.997Z,1628982907.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:15:08.778Z,1628982908.778 [Micromodem](INFO): Nmea in: $SNTTA,0.141323,,,,231508.71*4D

2021-08-14T23:15:09.169Z,1628982909.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D96,000,02B90,189,80,80,6E,FF
2021-08-14T23:15:09.170Z,1628982909.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:15:09.636Z,1628982909.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 631.619995 m, bearing: 118.771348 deg, deltaT: 5.023856 s, approachRate: 2.078085 m/s, LOS rate: 1.899041 deg/s, posRepo size: 4
2021-08-14T23:15:09.638Z,1628982909.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 631.619995 m,
      bearing: 118.771348 deg,
      approachRate: 2.078085 m/s,
      LOS rate: 1.899041 deg/s,
      cmd update: 7.596166 deg/s,
      cmd heading: 222.247938 deg,
      new cmd heading: 220.919033 deg.

2021-08-14T23:15:12.095Z,1628982912.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:15:12.412Z,1628982912.412 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:15:12.412Z,1628982912.412 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:15:12.412Z,1628982912.412 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:15:12.413Z,1628982912.413 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:15:12.813Z,1628982912.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D96,000,02B90,189,80,80,6E,FF
2021-08-14T23:15:12.813Z,1628982912.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:15:12.813Z,1628982912.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:15:12.815Z,1628982912.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:15:13.237Z,1628982913.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:15:14.063Z,1628982914.063 [Micromodem](INFO): Nmea in: $SNTTA,0.469867,0.470342,,,231513.97*53

2021-08-14T23:15:15.066Z,1628982915.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:15:16.434Z,1628982916.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,189,80,80,6E,FF
2021-08-14T23:15:16.434Z,1628982916.434 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,189,80,80,6E,FF
2021-08-14T23:15:16.434Z,1628982916.434 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:15:17.691Z,1628982917.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:15:18.061Z,1628982918.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:15:18.061Z,1628982918.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:15:18.061Z,1628982918.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:15:18.062Z,1628982918.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:15:18.481Z,1628982918.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,189,80,80,6E,FF
2021-08-14T23:15:18.481Z,1628982918.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:15:18.481Z,1628982918.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:15:18.483Z,1628982918.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:15:18.879Z,1628982918.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:15:19.685Z,1628982919.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231519.64*51

2021-08-14T23:15:20.102Z,1628982920.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,188,000,02B31,186,80,80,5A,FF
2021-08-14T23:15:20.102Z,1628982920.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:15:20.506Z,1628982920.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 625.919983 m, bearing: 104.236541 deg, deltaT: 10.972958 s, approachRate: -0.519460 m/s, LOS rate: -1.324602 deg/s, posRepo size: 4
2021-08-14T23:15:20.509Z,1628982920.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 625.919983 m,
      bearing: 104.236541 deg,
      approachRate: -0.519460 m/s,
      LOS rate: -1.324602 deg/s,
      cmd update: -5.298410 deg/s,
      cmd heading: 305.637249 deg,
      new cmd heading: 307.883975 deg.

2021-08-14T23:15:22.952Z,1628982922.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:15:23.338Z,1628982923.338 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:15:23.338Z,1628982923.338 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:15:23.339Z,1628982923.339 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:15:23.339Z,1628982923.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:15:23.749Z,1628982923.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
188,000,02B31,186,80,80,5A,FF
2021-08-14T23:15:23.749Z,1628982923.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:15:23.749Z,1628982923.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:15:23.751Z,1628982923.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:15:24.170Z,1628982924.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:15:25.361Z,1628982925.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35B,000,02B04,189,80,80,5F,FF
2021-08-14T23:15:25.361Z,1628982925.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:15:25.819Z,1628982925.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 623.219971 m, bearing: 95.390258 deg, deltaT: 5.198338 s, approachRate: -0.519399 m/s, LOS rate: -1.701752 deg/s, posRepo size: 4
2021-08-14T23:15:25.821Z,1628982925.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 623.219971 m,
      bearing: 95.390258 deg,
      approachRate: -0.519399 m/s,
      LOS rate: -1.701752 deg/s,
      cmd update: -6.807009 deg/s,
      cmd heading: 278.076285 deg,
      new cmd heading: 275.923085 deg.

2021-08-14T23:15:27.409Z,1628982927.409 [Micromodem](INFO): Nmea in: $CAERR,231528,DATA_TIMEOUT,2*42

2021-08-14T23:15:27.801Z,1628982927.801 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-14T23:15:28.099Z,1628982928.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:15:28.253Z,1628982928.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:15:28.253Z,1628982928.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:15:28.253Z,1628982928.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:15:28.254Z,1628982928.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:15:28.637Z,1628982928.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35B,000,02B04,189,80,80,5F,FF
2021-08-14T23:15:28.637Z,1628982928.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:15:28.637Z,1628982928.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:15:28.639Z,1628982928.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:15:29.043Z,1628982929.043 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-14T23:15:29.043Z,1628982929.043 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2021-08-14T23:15:29.439Z,1628982929.439 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,231528.098940,3,0,200,4000,14500,1,1,10,1,3,1,3,64,14500*51

2021-08-14T23:15:29.459Z,1628982929.459 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,231528.098940,3,0,200,4000,14500,1,1,10,1,3,1,3,64,14500*51

2021-08-14T23:15:30.773Z,1628982930.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:15:31.982Z,1628982931.982 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T23:15:32.379Z,1628982932.379 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814231531.749672,06,1316,31,0097,0150,134,02,02,00,02,1,010,001,0,4,1,0,150,6.8,2.68,05,0.32,-01,-0.40,56,14500,4000*57

2021-08-14T23:15:32.379Z,1628982932.379 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814231531.749672,06,1316,31,0097,0150,134,02,02,00,02,1,010,001,0,4,1,0,150,6.8,2.68,05,0.32,-01,-0.40,56,14500,4000*57

2021-08-14T23:15:33.591Z,1628982933.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:15:34.397Z,1628982934.397 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.142710
2021-08-14T23:15:36.235Z,1628982936.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:15:36.505Z,1628982936.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:15:36.505Z,1628982936.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:15:36.505Z,1628982936.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:15:36.506Z,1628982936.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:15:36.933Z,1628982936.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35B,000,02B04,189,80,80,5F,FF
2021-08-14T23:15:36.933Z,1628982936.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:15:36.934Z,1628982936.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:15:38.984Z,1628982938.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:15:39.763Z,1628982939.763 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:15:40.191Z,1628982940.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:15:40.994Z,1628982940.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231540.92*54

2021-08-14T23:15:41.485Z,1628982941.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,02A89,189,80,80,7A,FF
2021-08-14T23:15:41.485Z,1628982941.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:15:41.973Z,1628982941.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 615.839966 m, bearing: 100.640262 deg, deltaT: 16.091127 s, approachRate: -0.458638 m/s, LOS rate: 0.326267 deg/s, posRepo size: 4
2021-08-14T23:15:41.989Z,1628982941.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 615.839966 m,
      bearing: 100.640262 deg,
      approachRate: -0.458638 m/s,
      LOS rate: 0.326267 deg/s,
      cmd update: 1.305068 deg/s,
      cmd heading: 168.545027 deg,
      new cmd heading: 165.440091 deg.

2021-08-14T23:15:44.042Z,1628982944.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:15:44.353Z,1628982944.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:15:44.354Z,1628982944.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:15:44.354Z,1628982944.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:15:44.355Z,1628982944.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:15:44.750Z,1628982944.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,02A89,189,80,80,7A,FF
2021-08-14T23:15:44.750Z,1628982944.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:15:44.751Z,1628982944.751 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:15:44.752Z,1628982944.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:15:45.162Z,1628982945.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:15:46.010Z,1628982946.010 [Micromodem](INFO): Nmea in: $SNTTA,0.412247,,,,231545.91*4A

2021-08-14T23:15:46.361Z,1628982946.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6C,000,02A76,189,80,80,71,FF
2021-08-14T23:15:46.361Z,1628982946.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:15:46.830Z,1628982946.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 614.700012 m, bearing: 211.336107 deg, deltaT: 4.910001 s, approachRate: -0.232170 m/s, LOS rate: 22.544974 deg/s, posRepo size: 4
2021-08-14T23:15:46.837Z,1628982946.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.544974 deg/s. Setting heading cmd to target bearing of 211.336107deg and heading rate command to 0 deg/s.
2021-08-14T23:15:48.922Z,1628982948.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:15:49.241Z,1628982949.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:15:49.241Z,1628982949.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:15:49.241Z,1628982949.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:15:49.242Z,1628982949.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:15:49.649Z,1628982949.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6C,000,02A76,189,80,80,71,FF
2021-08-14T23:15:49.649Z,1628982949.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:15:49.649Z,1628982949.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:15:49.651Z,1628982949.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:15:50.257Z,1628982950.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:15:50.625Z,1628982950.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D72,000,00665,189,80,80,6A,FF
2021-08-14T23:15:50.626Z,1628982950.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:15:51.066Z,1628982951.066 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231550.81*57

2021-08-14T23:15:51.123Z,1628982951.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.720005 m, bearing: 217.653636 deg, deltaT: 4.254591 s, approachRate: -130.207581 m/s, LOS rate: 1.484873 deg/s, posRepo size: 4
2021-08-14T23:15:51.126Z,1628982951.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.720005 m,
      bearing: 217.653636 deg,
      approachRate: -130.207581 m/s,
      LOS rate: 1.484873 deg/s,
      cmd update: 5.939493 deg/s,
      cmd heading: 211.336107 deg,
      new cmd heading: 211.336107 deg.

2021-08-14T23:15:53.543Z,1628982953.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:15:53.861Z,1628982953.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:15:53.861Z,1628982953.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:15:53.861Z,1628982953.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:15:53.862Z,1628982953.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:15:54.473Z,1628982954.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D72,000,00665,189,80,80,6A,FF
2021-08-14T23:15:54.473Z,1628982954.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:15:54.474Z,1628982954.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:15:54.475Z,1628982954.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:15:54.876Z,1628982954.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:15:55.691Z,1628982955.691 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231555.66*5B

2021-08-14T23:15:56.383Z,1628982956.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:15:57.834Z,1628982957.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,6A,FF
2021-08-14T23:15:57.834Z,1628982957.834 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,6A,FF
2021-08-14T23:15:57.834Z,1628982957.834 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:15:59.089Z,1628982959.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:15:59.448Z,1628982959.448 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:15:59.448Z,1628982959.448 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:15:59.448Z,1628982959.448 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:15:59.449Z,1628982959.449 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:15:59.853Z,1628982959.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,6A,FF
2021-08-14T23:15:59.853Z,1628982959.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:15:59.853Z,1628982959.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:15:59.855Z,1628982959.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:16:00.256Z,1628982960.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:16:01.565Z,1628982961.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,02A82,188,80,80,64,FF
2021-08-14T23:16:01.565Z,1628982961.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:16:01.568Z,1628982961.568 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231601.01*58

2021-08-14T23:16:01.569Z,1628982961.569 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T23:16:02.214Z,1628982962.214 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 064118610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-14T23:16:02.215Z,1628982962.215 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-14T23:16:02.215Z,1628982962.215 [Micromodem](INFO): Outgoing frame #3, 64 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB871E793B2479FA8C785D065A13A4285F50FA6FCD7F096641484133041AF9D2E814BEFBA058E2197489AE03C3FC62
2021-08-14T23:16:02.215Z,1628982962.215 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T23:16:02.368Z,1628982962.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 615.419983 m, bearing: 197.572470 deg, deltaT: 10.951586 s, approachRate: 50.650192 m/s, LOS rate: -1.833631 deg/s, posRepo size: 4
2021-08-14T23:16:02.371Z,1628982962.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 615.419983 m,
      bearing: 197.572470 deg,
      approachRate: 50.650192 m/s,
      LOS rate: -1.833631 deg/s,
      cmd update: -7.334524 deg/s,
      cmd heading: 276.310908 deg,
      new cmd heading: 280.804200 deg.

2021-08-14T23:16:02.969Z,1628982962.969 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T23:16:03.381Z,1628982963.381 [Micromodem](INFO): Nmea in: $CADRQ,231603,1,10,0,64,1*73

2021-08-14T23:16:03.381Z,1628982963.381 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,064118610C0001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*34

2021-08-14T23:16:03.885Z,1628982963.885 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T23:16:04.297Z,1628982964.297 [Micromodem](INFO): Nmea in: $CADRQ,231604,1,10,0,64,2*77

2021-08-14T23:16:04.298Z,1628982964.298 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB*42

2021-08-14T23:16:04.474Z,1628982964.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:04.693Z,1628982964.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:16:04.693Z,1628982964.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:16:04.693Z,1628982964.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:16:04.694Z,1628982964.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:16:04.708Z,1628982964.708 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T23:16:05.106Z,1628982965.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,02A82,188,80,80,64,FF
2021-08-14T23:16:05.106Z,1628982965.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:16:05.106Z,1628982965.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:16:05.108Z,1628982965.108 [Micromodem](INFO): Nmea in: $CADRQ,231605,1,10,0,64,3*77

2021-08-14T23:16:05.108Z,1628982965.108 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,EA22C45FEB6B4C7917EDA6FC9E19C72368AB871E793B2479FA8C785D065A13A4285F50FA6FCD7F096641484133041AF9D2E814BEFBA058E2197489AE03C3FC62*38

2021-08-14T23:16:05.503Z,1628982965.503 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T23:16:05.503Z,1628982965.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:16:05.915Z,1628982965.915 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-08-14T23:16:05.915Z,1628982965.915 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2021-08-14T23:16:07.140Z,1628982967.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:09.718Z,1628982969.718 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-08-14T23:16:09.718Z,1628982969.718 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-08-14T23:16:09.754Z,1628982969.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:10.134Z,1628982970.134 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,231606.312686,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*60

2021-08-14T23:16:10.135Z,1628982970.135 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,231606.312686,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*60

2021-08-14T23:16:11.048Z,1628982971.048 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.353636
2021-08-14T23:16:12.323Z,1628982972.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:12.629Z,1628982972.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:16:12.629Z,1628982972.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:16:12.629Z,1628982972.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:16:12.630Z,1628982972.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:16:13.033Z,1628982973.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,02A82,188,80,80,64,FF
2021-08-14T23:16:13.033Z,1628982973.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:16:13.033Z,1628982973.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:16:13.842Z,1628982973.842 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T23:16:14.246Z,1628982974.246 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-14T23:16:14.651Z,1628982974.651 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-08-14T23:16:14.651Z,1628982974.651 [Micromodem](INFO): Sent 184 bytes from file Logs/20210814T221742/Courier0012.lzma.parts
2021-08-14T23:16:14.652Z,1628982974.652 [Micromodem](INFO): Packets left to send: 1
2021-08-14T23:16:14.902Z,1628982974.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:15.066Z,1628982975.066 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814231613.734334,06,2589,34,0112,0150,67,02,02,00,02,1,010,001,0,4,1,0,150,-6.7,6.41,14,-3.41,-01,0.67,52,14500,4000*4F

2021-08-14T23:16:15.066Z,1628982975.066 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814231613.734334,06,2589,34,0112,0150,67,02,02,00,02,1,010,001,0,4,1,0,150,-6.7,6.41,14,-3.41,-01,0.67,52,14500,4000*4F

2021-08-14T23:16:15.327Z,1628982975.327 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 064118610C000000BA14FEEA0F5C5F7AE6E2B52E1A8B792B9A0FE40B232CE383337815B680F175B539003247E660E50136AAF2B47B581E44F25DE457F1BA7A1A
2021-08-14T23:16:15.329Z,1628982975.329 [Micromodem](INFO): Outgoing frame #2, 4 bytes: 7B76A880
2021-08-14T23:16:16.746Z,1628982976.746 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:16:17.425Z,1628982977.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:16:17.436Z,1628982977.436 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-14T23:16:17.517Z,1628982977.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:17.838Z,1628982977.838 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-14T23:16:18.240Z,1628982978.240 [Micromodem](INFO): Nmea in: $CADRQ,231618,1,10,0,64,1*79

2021-08-14T23:16:18.241Z,1628982978.241 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,064118610C000000BA14FEEA0F5C5F7AE6E2B52E1A8B792B9A0FE40B232CE383337815B680F175B539003247E660E50136AAF2B47B581E44F25DE457F1BA7A1A*35

2021-08-14T23:16:18.652Z,1628982978.652 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.021881
2021-08-14T23:16:18.654Z,1628982978.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231617.90*57

2021-08-14T23:16:18.654Z,1628982978.654 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,231617.90*57

2021-08-14T23:16:19.842Z,1628982979.842 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T23:16:20.265Z,1628982980.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,188,80,80,64,FF
2021-08-14T23:16:20.265Z,1628982980.265 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,188,80,80,64,FF
2021-08-14T23:16:20.265Z,1628982980.265 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:16:20.267Z,1628982980.267 [Micromodem](INFO): Nmea in: $CADRQ,231619,1,10,0,64,2*7B

2021-08-14T23:16:20.267Z,1628982980.267 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,7B76A880*4C

2021-08-14T23:16:20.407Z,1628982980.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:20.649Z,1628982980.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:16:20.649Z,1628982980.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:16:20.649Z,1628982980.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:16:20.650Z,1628982980.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:16:20.672Z,1628982980.672 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,4*7F

2021-08-14T23:16:21.069Z,1628982981.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,188,80,80,64,FF
2021-08-14T23:16:21.069Z,1628982981.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:16:21.069Z,1628982981.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:16:21.071Z,1628982981.071 [Micromodem](INFO): Nmea in: $CATXP,68*7C

2021-08-14T23:16:21.072Z,1628982981.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:16:22.937Z,1628982982.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:23.750Z,1628982983.750 [Micromodem](INFO): Nmea in: $CATXF,68*6A

2021-08-14T23:16:23.750Z,1628982983.750 [Micromodem](ERROR): Response from modem unexpected: $CATXF,68*6A

2021-08-14T23:16:24.139Z,1628982984.139 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,231621.396635,3,0,200,4000,14500,1,1,10,1,2,2,3,68,14500*55

2021-08-14T23:16:24.139Z,1628982984.139 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,231621.396635,3,0,200,4000,14500,1,1,10,1,2,2,3,68,14500*55

2021-08-14T23:16:25.768Z,1628982985.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:26.972Z,1628982986.972 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.321890
2021-08-14T23:16:26.974Z,1628982986.974 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T23:16:27.373Z,1628982987.373 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-14T23:16:27.374Z,1628982987.374 [Micromodem](INFO): Sent 60 bytes from file Logs/20210814T221742/Courier0012.lzma.parts
2021-08-14T23:16:27.374Z,1628982987.374 [Micromodem](INFO): Packets left to send: 0
2021-08-14T23:16:27.790Z,1628982987.790 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814231626.877650,06,15841,41,0109,0150,59,01,01,00,01,1,010,001,0,4,1,0,150,11.5,9.05,19,-6.05,-01,0.14,44,14500,4000*62

2021-08-14T23:16:27.791Z,1628982987.791 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814231626.877650,06,15841,41,0109,0150,59,01,01,00,01,1,010,001,0,4,1,0,150,11.5,9.05,19,-6.05,-01,0.14,44,14500,4000*62

2021-08-14T23:16:28.520Z,1628982988.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:28.521Z,1628982988.521 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T23:16:28.521Z,1628982988.521 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T23:16:28.521Z,1628982988.521 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T23:16:28.521Z,1628982988.521 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T23:16:28.521Z,1628982988.521 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T23:16:28.685Z,1628982988.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:16:28.685Z,1628982988.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:16:28.685Z,1628982988.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:16:28.686Z,1628982988.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:16:29.083Z,1628982989.083 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,188,80,80,64,FF
2021-08-14T23:16:29.083Z,1628982989.083 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:16:29.083Z,1628982989.083 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:16:31.127Z,1628982991.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:32.318Z,1628982992.318 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:16:32.720Z,1628982992.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:16:33.554Z,1628982993.554 [Micromodem](INFO): Nmea in: $SNTTA,0.421832,,,,231633.48*44

2021-08-14T23:16:34.020Z,1628982994.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:34.345Z,1628982994.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD6,000,04326,189,80,80,42,FF
2021-08-14T23:16:34.345Z,1628982994.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:16:34.788Z,1628982994.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 993.900085 m, bearing: 216.770684 deg, deltaT: 32.810619 s, approachRate: 11.535293 m/s, LOS rate: 0.585122 deg/s, posRepo size: 4
2021-08-14T23:16:34.790Z,1628982994.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 993.900085 m,
      bearing: 216.770684 deg,
      approachRate: 11.535293 m/s,
      LOS rate: 0.585122 deg/s,
      cmd update: 2.340488 deg/s,
      cmd heading: 35.571164 deg,
      new cmd heading: 32.948089 deg.

2021-08-14T23:16:37.221Z,1628982997.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:37.561Z,1628982997.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:16:37.561Z,1628982997.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:16:37.561Z,1628982997.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:16:37.562Z,1628982997.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:16:38.001Z,1628982998.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD6,000,04326,189,80,80,42,FF
2021-08-14T23:16:38.001Z,1628982998.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:16:38.002Z,1628982998.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:16:38.003Z,1628982998.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:16:38.393Z,1628982998.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:16:39.212Z,1628982999.212 [Micromodem](INFO): Nmea in: $SNTTA,0.421139,,,,231639.16*47

2021-08-14T23:16:39.597Z,1628982999.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,02B55,189,80,80,7C,FF
2021-08-14T23:16:39.597Z,1628982999.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:16:40.098Z,1628983000.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 628.080017 m, bearing: 93.623049 deg, deltaT: 5.217071 s, approachRate: -70.119820 m/s, LOS rate: -23.604744 deg/s, posRepo size: 4
2021-08-14T23:16:40.099Z,1628983000.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.604744 deg/s. Setting heading cmd to target bearing of 93.623049deg and heading rate command to 0 deg/s.
2021-08-14T23:16:42.338Z,1628983002.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:42.625Z,1628983002.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:16:42.625Z,1628983002.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:16:42.625Z,1628983002.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:16:42.626Z,1628983002.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:16:43.053Z,1628983003.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,02B55,189,80,80,7C,FF
2021-08-14T23:16:43.053Z,1628983003.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:16:43.053Z,1628983003.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:16:43.054Z,1628983003.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:16:43.444Z,1628983003.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:16:44.251Z,1628983004.251 [Micromodem](INFO): Nmea in: $SNTTA,0.350343,0.349605,,,231644.21*54

2021-08-14T23:16:44.654Z,1628983004.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,02B3C,189,80,80,5A,FF
2021-08-14T23:16:44.654Z,1628983004.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:16:45.083Z,1628983005.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 626.579956 m, bearing: 97.990088 deg, deltaT: 5.024571 s, approachRate: -0.298545 m/s, LOS rate: 0.869137 deg/s, posRepo size: 4
2021-08-14T23:16:45.086Z,1628983005.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 626.579956 m,
      bearing: 97.990088 deg,
      approachRate: -0.298545 m/s,
      LOS rate: 0.869137 deg/s,
      cmd update: 3.476546 deg/s,
      cmd heading: 93.623049 deg,
      new cmd heading: 93.623049 deg.

2021-08-14T23:16:47.533Z,1628983007.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:47.885Z,1628983007.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:16:47.885Z,1628983007.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:16:47.885Z,1628983007.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:16:47.886Z,1628983007.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:16:48.282Z,1628983008.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,02B3C,189,80,80,5A,FF
2021-08-14T23:16:48.282Z,1628983008.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:16:48.282Z,1628983008.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:16:48.285Z,1628983008.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:16:48.696Z,1628983008.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:16:49.527Z,1628983009.527 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231649.44*55

2021-08-14T23:16:49.894Z,1628983009.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,02B0C,185,80,80,69,FF
2021-08-14T23:16:49.894Z,1628983009.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:16:50.393Z,1628983010.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 623.700012 m, bearing: 97.550749 deg, deltaT: 5.318346 s, approachRate: -0.541511 m/s, LOS rate: -0.082608 deg/s, posRepo size: 4
2021-08-14T23:16:50.395Z,1628983010.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 623.700012 m,
      bearing: 97.550749 deg,
      approachRate: -0.541511 m/s,
      LOS rate: -0.082608 deg/s,
      cmd update: -0.330432 deg/s,
      cmd heading: 111.996027 deg,
      new cmd heading: 113.513233 deg.

2021-08-14T23:16:52.762Z,1628983012.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:53.129Z,1628983013.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:16:53.129Z,1628983013.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:16:53.129Z,1628983013.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:16:53.130Z,1628983013.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:16:53.536Z,1628983013.536 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,02B0C,185,80,80,69,FF
2021-08-14T23:16:53.536Z,1628983013.536 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:16:53.537Z,1628983013.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:16:53.539Z,1628983013.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:16:53.962Z,1628983013.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:16:54.779Z,1628983014.779 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231654.70*5E

2021-08-14T23:16:55.158Z,1628983015.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,136,000,02ADC,186,80,80,72,FF
2021-08-14T23:16:55.159Z,1628983015.159 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:16:55.587Z,1628983015.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 620.820007 m, bearing: 100.232930 deg, deltaT: 5.265858 s, approachRate: -0.546920 m/s, LOS rate: 0.509353 deg/s, posRepo size: 4
2021-08-14T23:16:55.608Z,1628983015.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 620.820007 m,
      bearing: 100.232930 deg,
      approachRate: -0.546920 m/s,
      LOS rate: 0.509353 deg/s,
      cmd update: 2.037412 deg/s,
      cmd heading: 110.246221 deg,
      new cmd heading: 110.135410 deg.

2021-08-14T23:16:58.079Z,1628983018.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:16:58.389Z,1628983018.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:16:58.389Z,1628983018.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:16:58.390Z,1628983018.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:16:58.391Z,1628983018.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:16:58.789Z,1628983018.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
136,000,02ADC,186,80,80,72,FF
2021-08-14T23:16:58.789Z,1628983018.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:16:58.789Z,1628983018.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:16:58.791Z,1628983018.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:16:58.794Z,1628983018.794 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T23:16:59.233Z,1628983019.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:17:00.023Z,1628983020.023 [Micromodem](INFO): Nmea in: $SNTTA,0.414440,0.481431,,,231659.95*52

2021-08-14T23:17:00.397Z,1628983020.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,173,000,02AA6,186,80,80,55,FF
2021-08-14T23:17:00.398Z,1628983020.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:17:00.844Z,1628983020.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 617.580017 m, bearing: 100.346318 deg, deltaT: 5.174199 s, approachRate: -0.626182 m/s, LOS rate: 0.021914 deg/s, posRepo size: 4
2021-08-14T23:17:00.846Z,1628983020.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 617.580017 m,
      bearing: 100.346318 deg,
      approachRate: -0.626182 m/s,
      LOS rate: 0.021914 deg/s,
      cmd update: 0.087656 deg/s,
      cmd heading: 120.796280 deg,
      new cmd heading: 121.639088 deg.

2021-08-14T23:17:03.270Z,1628983023.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:17:03.633Z,1628983023.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:17:03.633Z,1628983023.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:17:03.633Z,1628983023.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:17:03.634Z,1628983023.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:17:04.037Z,1628983024.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
173,000,02AA6,186,80,80,55,FF
2021-08-14T23:17:04.037Z,1628983024.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:17:04.037Z,1628983024.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:17:04.039Z,1628983024.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:17:04.450Z,1628983024.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:17:05.287Z,1628983025.287 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231705.20*5E

2021-08-14T23:17:05.665Z,1628983025.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,02A70,189,80,80,48,FF
2021-08-14T23:17:05.665Z,1628983025.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:17:06.129Z,1628983026.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 614.339966 m, bearing: 96.087292 deg, deltaT: 5.285370 s, approachRate: -0.613023 m/s, LOS rate: -0.805814 deg/s, posRepo size: 4
2021-08-14T23:17:06.132Z,1628983026.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 614.339966 m,
      bearing: 96.087292 deg,
      approachRate: -0.613023 m/s,
      LOS rate: -0.805814 deg/s,
      cmd update: -3.223257 deg/s,
      cmd heading: 121.259225 deg,
      new cmd heading: 121.295755 deg.

2021-08-14T23:17:08.532Z,1628983028.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:17:08.897Z,1628983028.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:17:08.897Z,1628983028.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:17:08.897Z,1628983028.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:17:08.898Z,1628983028.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:17:09.302Z,1628983029.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24E,000,02A70,189,80,80,48,FF
2021-08-14T23:17:09.302Z,1628983029.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:17:09.302Z,1628983029.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:17:09.305Z,1628983029.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:17:09.709Z,1628983029.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:17:10.118Z,1628983030.118 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T23:17:10.550Z,1628983030.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231710.46*5A

2021-08-14T23:17:10.917Z,1628983030.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,02A3C,188,80,80,54,FF
2021-08-14T23:17:10.918Z,1628983030.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:17:11.375Z,1628983031.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 611.220032 m, bearing: 93.894597 deg, deltaT: 5.251602 s, approachRate: -0.594092 m/s, LOS rate: -0.417529 deg/s, posRepo size: 4
2021-08-14T23:17:11.377Z,1628983031.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 611.220032 m,
      bearing: 93.894597 deg,
      approachRate: -0.594092 m/s,
      LOS rate: -0.417529 deg/s,
      cmd update: -1.670116 deg/s,
      cmd heading: 104.331810 deg,
      new cmd heading: 103.006268 deg.

2021-08-14T23:17:13.784Z,1628983033.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:17:14.151Z,1628983034.151 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:17:14.151Z,1628983034.151 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:17:14.152Z,1628983034.152 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:17:14.154Z,1628983034.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:17:14.565Z,1628983034.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,02A3C,188,80,80,54,FF
2021-08-14T23:17:14.565Z,1628983034.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:17:14.566Z,1628983034.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:17:14.567Z,1628983034.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:17:14.960Z,1628983034.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:17:15.818Z,1628983035.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231715.72*58

2021-08-14T23:17:16.189Z,1628983036.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,02A13,186,80,80,69,FF
2021-08-14T23:17:16.189Z,1628983036.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:17:16.612Z,1628983036.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 608.759949 m, bearing: 100.177585 deg, deltaT: 5.337052 s, approachRate: -0.460944 m/s, LOS rate: 1.177240 deg/s, posRepo size: 4
2021-08-14T23:17:16.614Z,1628983036.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 608.759949 m,
      bearing: 100.177585 deg,
      approachRate: -0.460944 m/s,
      LOS rate: 1.177240 deg/s,
      cmd update: 4.708958 deg/s,
      cmd heading: 95.433736 deg,
      new cmd heading: 94.898692 deg.

2021-08-14T23:17:19.053Z,1628983039.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:17:19.405Z,1628983039.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:17:19.405Z,1628983039.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:17:19.405Z,1628983039.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:17:19.406Z,1628983039.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:17:19.801Z,1628983039.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,02A13,186,80,80,69,FF
2021-08-14T23:17:19.801Z,1628983039.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:17:19.801Z,1628983039.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:17:19.803Z,1628983039.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:17:20.265Z,1628983040.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:17:21.433Z,1628983041.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,029D4,185,80,80,68,FF
2021-08-14T23:17:21.434Z,1628983041.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:17:21.950Z,1628983041.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 604.979980 m, bearing: 102.642082 deg, deltaT: 5.230902 s, approachRate: -0.722623 m/s, LOS rate: 0.471142 deg/s, posRepo size: 4
2021-08-14T23:17:21.992Z,1628983041.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 604.979980 m,
      bearing: 102.642082 deg,
      approachRate: -0.722623 m/s,
      LOS rate: 0.471142 deg/s,
      cmd update: 1.884567 deg/s,
      cmd heading: 120.090002 deg,
      new cmd heading: 121.904123 deg.

2021-08-14T23:17:24.417Z,1628983044.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:17:24.665Z,1628983044.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:17:24.665Z,1628983044.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:17:24.665Z,1628983044.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:17:24.666Z,1628983044.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:17:25.082Z,1628983045.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,029D4,185,80,80,68,FF
2021-08-14T23:17:25.082Z,1628983045.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:17:25.082Z,1628983045.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:17:25.084Z,1628983045.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:17:25.480Z,1628983045.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:17:26.288Z,1628983046.288 [Micromodem](INFO): Nmea in: $SNTTA,0.372708,0.371683,,,231726.24*5A

2021-08-14T23:17:26.693Z,1628983046.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,187,000,029A3,185,80,80,6C,FF
2021-08-14T23:17:26.693Z,1628983046.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:17:27.197Z,1628983047.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 602.039978 m, bearing: 101.164268 deg, deltaT: 5.181064 s, approachRate: -0.567451 m/s, LOS rate: -0.285234 deg/s, posRepo size: 4
2021-08-14T23:17:27.199Z,1628983047.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 602.039978 m,
      bearing: 101.164268 deg,
      approachRate: -0.567451 m/s,
      LOS rate: -0.285234 deg/s,
      cmd update: -1.140935 deg/s,
      cmd heading: 129.859570 deg,
      new cmd heading: 130.725881 deg.

2021-08-14T23:17:29.568Z,1628983049.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:17:29.915Z,1628983049.915 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:17:29.915Z,1628983049.915 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:17:29.915Z,1628983049.915 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:17:29.916Z,1628983049.916 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:17:30.333Z,1628983050.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
187,000,029A3,185,80,80,6C,FF
2021-08-14T23:17:30.333Z,1628983050.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:17:30.333Z,1628983050.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:17:30.335Z,1628983050.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:17:30.741Z,1628983050.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:17:31.566Z,1628983051.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231731.50*5E

2021-08-14T23:17:31.997Z,1628983051.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,372,000,0296C,189,80,80,62,FF
2021-08-14T23:17:31.998Z,1628983051.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:17:32.399Z,1628983052.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 598.739990 m, bearing: 91.490616 deg, deltaT: 5.363318 s, approachRate: -0.615288 m/s, LOS rate: -1.803669 deg/s, posRepo size: 4
2021-08-14T23:17:32.401Z,1628983052.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 598.739990 m,
      bearing: 91.490616 deg,
      approachRate: -0.615288 m/s,
      LOS rate: -1.803669 deg/s,
      cmd update: -7.214677 deg/s,
      cmd heading: 123.739073 deg,
      new cmd heading: 123.370227 deg.

2021-08-14T23:17:34.787Z,1628983054.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:17:35.189Z,1628983055.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:17:35.189Z,1628983055.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:17:35.189Z,1628983055.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:17:35.190Z,1628983055.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:17:35.591Z,1628983055.591 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
372,000,0296C,189,80,80,62,FF
2021-08-14T23:17:35.592Z,1628983055.592 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:17:35.592Z,1628983055.592 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:17:35.594Z,1628983055.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:17:36.024Z,1628983056.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:17:36.810Z,1628983056.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231736.75*5E

2021-08-14T23:17:37.221Z,1628983057.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B3,000,0294B,189,80,80,63,FF
2021-08-14T23:17:37.221Z,1628983057.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:17:37.647Z,1628983057.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 596.760010 m, bearing: 91.780756 deg, deltaT: 5.169892 s, approachRate: -0.382983 m/s, LOS rate: 0.056121 deg/s, posRepo size: 4
2021-08-14T23:17:37.649Z,1628983057.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 596.760010 m,
      bearing: 91.780756 deg,
      approachRate: -0.382983 m/s,
      LOS rate: 0.056121 deg/s,
      cmd update: 0.224484 deg/s,
      cmd heading: 86.410392 deg,
      new cmd heading: 83.544542 deg.

2021-08-14T23:17:40.079Z,1628983060.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:17:40.425Z,1628983060.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:17:40.425Z,1628983060.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:17:40.425Z,1628983060.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:17:40.426Z,1628983060.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:17:40.837Z,1628983060.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B3,000,0294B,189,80,80,63,FF
2021-08-14T23:17:40.837Z,1628983060.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:17:40.837Z,1628983060.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:17:40.839Z,1628983060.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:17:41.241Z,1628983061.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:17:42.066Z,1628983062.066 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231742.00*5F

2021-08-14T23:17:42.445Z,1628983062.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,0291A,186,80,80,64,FF
2021-08-14T23:17:42.445Z,1628983062.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:17:42.885Z,1628983062.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 593.819946 m, bearing: 100.262041 deg, deltaT: 5.261211 s, approachRate: -0.558819 m/s, LOS rate: 1.612040 deg/s, posRepo size: 4
2021-08-14T23:17:42.887Z,1628983062.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 593.819946 m,
      bearing: 100.262041 deg,
      approachRate: -0.558819 m/s,
      LOS rate: 1.612040 deg/s,
      cmd update: 6.448162 deg/s,
      cmd heading: 87.588697 deg,
      new cmd heading: 87.675318 deg.

2021-08-14T23:17:45.335Z,1628983065.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:17:45.688Z,1628983065.688 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:17:45.689Z,1628983065.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:17:45.689Z,1628983065.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:17:45.690Z,1628983065.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:17:46.081Z,1628983066.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,0291A,186,80,80,64,FF
2021-08-14T23:17:46.081Z,1628983066.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:17:46.081Z,1628983066.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:17:46.083Z,1628983066.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:17:46.497Z,1628983066.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:17:47.322Z,1628983067.322 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231747.24*5C

2021-08-14T23:17:47.697Z,1628983067.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,028E6,187,80,80,69,FF
2021-08-14T23:17:47.698Z,1628983067.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:17:48.223Z,1628983068.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 590.700012 m, bearing: 100.826057 deg, deltaT: 5.204442 s, approachRate: -0.599475 m/s, LOS rate: 0.108372 deg/s, posRepo size: 4
2021-08-14T23:17:48.230Z,1628983068.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 590.700012 m,
      bearing: 100.826057 deg,
      approachRate: -0.599475 m/s,
      LOS rate: 0.108372 deg/s,
      cmd update: 0.433489 deg/s,
      cmd heading: 121.224321 deg,
      new cmd heading: 124.503418 deg.

2021-08-14T23:17:50.241Z,1628983070.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:17:50.544Z,1628983070.544 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:17:50.544Z,1628983070.544 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:17:50.545Z,1628983070.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:17:50.546Z,1628983070.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:17:50.929Z,1628983070.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,028E6,187,80,80,69,FF
2021-08-14T23:17:50.929Z,1628983070.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:17:50.929Z,1628983070.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:17:50.931Z,1628983070.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:17:51.348Z,1628983071.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:17:52.191Z,1628983072.191 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231752.09*57

2021-08-14T23:17:52.210Z,1628983072.210 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:17:52.553Z,1628983072.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,028B0,184,80,80,72,FF
2021-08-14T23:17:52.553Z,1628983072.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:17:52.996Z,1628983072.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 587.460022 m, bearing: 102.852424 deg, deltaT: 4.856200 s, approachRate: -0.667186 m/s, LOS rate: 0.417274 deg/s, posRepo size: 4
2021-08-14T23:17:52.998Z,1628983072.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 587.460022 m,
      bearing: 102.852424 deg,
      approachRate: -0.667186 m/s,
      LOS rate: 0.417274 deg/s,
      cmd update: 1.669097 deg/s,
      cmd heading: 123.329473 deg,
      new cmd heading: 123.513468 deg.

2021-08-14T23:17:55.427Z,1628983075.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:17:55.890Z,1628983075.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:17:55.890Z,1628983075.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:17:55.890Z,1628983075.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:17:55.891Z,1628983075.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:17:56.213Z,1628983076.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,028B0,184,80,80,72,FF
2021-08-14T23:17:56.213Z,1628983076.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:17:56.213Z,1628983076.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:17:56.215Z,1628983076.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:17:56.591Z,1628983076.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:17:57.406Z,1628983077.406 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231757.37*5F

2021-08-14T23:17:57.792Z,1628983077.792 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,0287A,187,80,80,32,FF
2021-08-14T23:17:57.793Z,1628983077.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:17:58.323Z,1628983078.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 584.219971 m, bearing: 97.173682 deg, deltaT: 5.280114 s, approachRate: -0.613633 m/s, LOS rate: -1.075496 deg/s, posRepo size: 4
2021-08-14T23:17:58.325Z,1628983078.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 584.219971 m,
      bearing: 97.173682 deg,
      approachRate: -0.613633 m/s,
      LOS rate: -1.075496 deg/s,
      cmd update: -4.301984 deg/s,
      cmd heading: 132.136090 deg,
      new cmd heading: 132.930056 deg.

2021-08-14T23:18:00.665Z,1628983080.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:18:01.025Z,1628983081.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:18:01.025Z,1628983081.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:18:01.025Z,1628983081.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:18:01.026Z,1628983081.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:18:01.429Z,1628983081.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,0287A,187,80,80,32,FF
2021-08-14T23:18:01.430Z,1628983081.430 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:18:01.430Z,1628983081.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:18:01.431Z,1628983081.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:18:01.851Z,1628983081.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:18:02.247Z,1628983082.247 [Micromodem](INFO): Nmea in: $SNTTA,0.158366,0.158353,,,231802.59*5E

2021-08-14T23:18:02.254Z,1628983082.254 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:18:03.045Z,1628983083.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,335,000,0284A,189,80,80,71,FF
2021-08-14T23:18:03.046Z,1628983083.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:18:03.530Z,1628983083.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 581.339966 m, bearing: 91.229143 deg, deltaT: 5.210684 s, approachRate: -0.552711 m/s, LOS rate: -1.140837 deg/s, posRepo size: 4
2021-08-14T23:18:03.537Z,1628983083.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 581.339966 m,
      bearing: 91.229143 deg,
      approachRate: -0.552711 m/s,
      LOS rate: -1.140837 deg/s,
      cmd update: -4.563346 deg/s,
      cmd heading: 109.702385 deg,
      new cmd heading: 107.691234 deg.

2021-08-14T23:18:05.899Z,1628983085.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:18:06.290Z,1628983086.290 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:18:06.291Z,1628983086.291 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:18:06.291Z,1628983086.291 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:18:06.292Z,1628983086.292 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:18:06.681Z,1628983086.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
335,000,0284A,189,80,80,71,FF
2021-08-14T23:18:06.681Z,1628983086.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:18:06.681Z,1628983086.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:18:06.683Z,1628983086.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:18:07.094Z,1628983087.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:18:08.310Z,1628983088.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15F,000,0281F,186,80,80,57,FF
2021-08-14T23:18:08.310Z,1628983088.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:18:08.739Z,1628983088.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 578.760010 m, bearing: 96.077225 deg, deltaT: 5.361268 s, approachRate: -0.481221 m/s, LOS rate: 0.904279 deg/s, posRepo size: 4
2021-08-14T23:18:08.741Z,1628983088.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 578.760010 m,
      bearing: 96.077225 deg,
      approachRate: -0.481221 m/s,
      LOS rate: 0.904279 deg/s,
      cmd update: 3.617116 deg/s,
      cmd heading: 85.286233 deg,
      new cmd heading: 83.799116 deg.

2021-08-14T23:18:11.143Z,1628983091.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:18:11.533Z,1628983091.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:18:11.534Z,1628983091.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:18:11.534Z,1628983091.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:18:11.535Z,1628983091.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:18:11.982Z,1628983091.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15F,000,0281F,186,80,80,57,FF
2021-08-14T23:18:11.982Z,1628983091.982 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:18:11.983Z,1628983091.983 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:18:11.989Z,1628983091.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:18:12.036Z,1628983092.036 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:18:12.345Z,1628983092.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:18:13.553Z,1628983093.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,027F1,184,80,80,83,FF
2021-08-14T23:18:13.554Z,1628983093.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:18:13.556Z,1628983093.556 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231813.15*50

2021-08-14T23:18:14.033Z,1628983094.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 576.000000 m, bearing: 97.633688 deg, deltaT: 5.189560 s, approachRate: -0.531839 m/s, LOS rate: 0.299922 deg/s, posRepo size: 4
2021-08-14T23:18:14.035Z,1628983094.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 576.000000 m,
      bearing: 97.633688 deg,
      approachRate: -0.531839 m/s,
      LOS rate: 0.299922 deg/s,
      cmd update: 1.199688 deg/s,
      cmd heading: 104.088135 deg,
      new cmd heading: 105.613606 deg.

2021-08-14T23:18:16.426Z,1628983096.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:18:16.789Z,1628983096.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:18:16.789Z,1628983096.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:18:16.789Z,1628983096.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:18:16.790Z,1628983096.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:18:17.205Z,1628983097.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,027F1,184,80,80,83,FF
2021-08-14T23:18:17.205Z,1628983097.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:18:17.205Z,1628983097.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:18:17.206Z,1628983097.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:18:17.597Z,1628983097.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:18:18.027Z,1628983098.027 [Micromodem](INFO): Nmea in: $SNTTA,0.271946,0.272115,,,231818.37*56

2021-08-14T23:18:18.803Z,1628983098.803 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,027B8,184,80,80,6F,FF
2021-08-14T23:18:18.803Z,1628983098.803 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:18:19.272Z,1628983099.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 572.580017 m, bearing: 104.046751 deg, deltaT: 5.207288 s, approachRate: -0.656769 m/s, LOS rate: 1.231555 deg/s, posRepo size: 4
2021-08-14T23:18:19.275Z,1628983099.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 572.580017 m,
      bearing: 104.046751 deg,
      approachRate: -0.656769 m/s,
      LOS rate: 1.231555 deg/s,
      cmd update: 4.926221 deg/s,
      cmd heading: 110.338056 deg,
      new cmd heading: 110.879245 deg.

2021-08-14T23:18:21.663Z,1628983101.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:18:22.033Z,1628983102.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:18:22.033Z,1628983102.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:18:22.033Z,1628983102.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:18:22.034Z,1628983102.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:18:22.049Z,1628983102.049 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:18:22.441Z,1628983102.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,027B8,184,80,80,6F,FF
2021-08-14T23:18:22.441Z,1628983102.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:18:22.442Z,1628983102.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:18:22.443Z,1628983102.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:18:22.844Z,1628983102.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:18:23.666Z,1628983103.666 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231823.60*51

2021-08-14T23:18:24.053Z,1628983104.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12D,000,02784,186,80,80,42,FF
2021-08-14T23:18:24.054Z,1628983104.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:18:24.498Z,1628983104.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 569.459961 m, bearing: 100.801687 deg, deltaT: 5.314351 s, approachRate: -0.587100 m/s, LOS rate: -0.610623 deg/s, posRepo size: 4
2021-08-14T23:18:24.499Z,1628983104.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 569.459961 m,
      bearing: 100.801687 deg,
      approachRate: -0.587100 m/s,
      LOS rate: -0.610623 deg/s,
      cmd update: -2.442491 deg/s,
      cmd heading: 136.470240 deg,
      new cmd heading: 138.305528 deg.

2021-08-14T23:18:26.895Z,1628983106.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:18:27.286Z,1628983107.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:18:27.286Z,1628983107.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:18:27.286Z,1628983107.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:18:27.287Z,1628983107.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:18:27.690Z,1628983107.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12D,000,02784,186,80,80,42,FF
2021-08-14T23:18:27.690Z,1628983107.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:18:27.690Z,1628983107.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:18:27.696Z,1628983107.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:18:28.105Z,1628983108.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:18:28.934Z,1628983108.934 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231828.85*51

2021-08-14T23:18:29.738Z,1628983109.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:18:31.344Z,1628983111.344 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,42,FF
2021-08-14T23:18:31.345Z,1628983111.345 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,42,FF
2021-08-14T23:18:31.345Z,1628983111.345 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:18:32.573Z,1628983112.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:18:32.949Z,1628983112.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:18:32.949Z,1628983112.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:18:32.949Z,1628983112.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:18:32.950Z,1628983112.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:18:33.358Z,1628983113.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,42,FF
2021-08-14T23:18:33.358Z,1628983113.358 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:18:33.359Z,1628983113.359 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:18:33.360Z,1628983113.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:18:33.756Z,1628983113.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:18:34.574Z,1628983114.574 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231834.52*56

2021-08-14T23:18:34.961Z,1628983114.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,317,000,02731,189,80,80,68,FF
2021-08-14T23:18:34.961Z,1628983114.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:18:35.416Z,1628983115.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 564.479980 m, bearing: 88.588981 deg, deltaT: 10.868644 s, approachRate: -0.458197 m/s, LOS rate: -1.123664 deg/s, posRepo size: 4
2021-08-14T23:18:35.418Z,1628983115.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 564.479980 m,
      bearing: 88.588981 deg,
      approachRate: -0.458197 m/s,
      LOS rate: -1.123664 deg/s,
      cmd update: -4.494657 deg/s,
      cmd heading: 109.958925 deg,
      new cmd heading: 108.893332 deg.

2021-08-14T23:18:37.837Z,1628983117.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:18:38.231Z,1628983118.231 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:18:38.231Z,1628983118.231 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:18:38.231Z,1628983118.231 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:18:38.232Z,1628983118.232 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:18:38.597Z,1628983118.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
317,000,02731,189,80,80,68,FF
2021-08-14T23:18:38.597Z,1628983118.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:18:38.597Z,1628983118.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:18:38.599Z,1628983118.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:18:39.005Z,1628983119.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:18:39.838Z,1628983119.838 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231839.76*5D

2021-08-14T23:18:40.229Z,1628983120.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E9,000,026F9,185,80,80,5D,FF
2021-08-14T23:18:40.230Z,1628983120.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:18:40.655Z,1628983120.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 561.119995 m, bearing: 97.398375 deg, deltaT: 5.323690 s, approachRate: -0.631138 m/s, LOS rate: 1.654753 deg/s, posRepo size: 4
2021-08-14T23:18:40.658Z,1628983120.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 561.119995 m,
      bearing: 97.398375 deg,
      approachRate: -0.631138 m/s,
      LOS rate: 1.654753 deg/s,
      cmd update: 6.619013 deg/s,
      cmd heading: 85.940863 deg,
      new cmd heading: 84.445963 deg.

2021-08-14T23:18:42.259Z,1628983122.259 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T23:18:43.069Z,1628983123.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:18:43.449Z,1628983123.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:18:43.449Z,1628983123.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:18:43.450Z,1628983123.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:18:43.451Z,1628983123.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:18:43.849Z,1628983123.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E9,000,026F9,185,80,80,5D,FF
2021-08-14T23:18:43.849Z,1628983123.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:18:43.849Z,1628983123.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:18:43.851Z,1628983123.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:18:44.269Z,1628983124.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:18:45.083Z,1628983125.083 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231845.01*56

2021-08-14T23:18:45.478Z,1628983125.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,026C9,187,80,80,71,FF
2021-08-14T23:18:45.478Z,1628983125.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:18:45.934Z,1628983125.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 558.239990 m, bearing: 99.586877 deg, deltaT: 5.179936 s, approachRate: -0.555992 m/s, LOS rate: 0.422496 deg/s, posRepo size: 4
2021-08-14T23:18:45.960Z,1628983125.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 558.239990 m,
      bearing: 99.586877 deg,
      approachRate: -0.555992 m/s,
      LOS rate: 0.422496 deg/s,
      cmd update: 1.689984 deg/s,
      cmd heading: 120.253676 deg,
      new cmd heading: 123.050593 deg.

2021-08-14T23:18:48.382Z,1628983128.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:18:48.697Z,1628983128.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:18:48.697Z,1628983128.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:18:48.697Z,1628983128.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:18:48.698Z,1628983128.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:18:49.113Z,1628983129.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,026C9,187,80,80,71,FF
2021-08-14T23:18:49.113Z,1628983129.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:18:49.113Z,1628983129.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:18:49.115Z,1628983129.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:18:49.517Z,1628983129.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:18:50.342Z,1628983130.342 [Micromodem](INFO): Nmea in: $SNTTA,0.357091,,,,231850.27*41

2021-08-14T23:18:50.737Z,1628983130.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,023,000,02698,184,80,80,7A,FF
2021-08-14T23:18:50.738Z,1628983130.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:18:51.172Z,1628983131.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 555.299988 m, bearing: 102.671199 deg, deltaT: 5.248247 s, approachRate: -0.560188 m/s, LOS rate: 0.587686 deg/s, posRepo size: 4
2021-08-14T23:18:51.189Z,1628983131.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 555.299988 m,
      bearing: 102.671199 deg,
      approachRate: -0.560188 m/s,
      LOS rate: 0.587686 deg/s,
      cmd update: 2.350745 deg/s,
      cmd heading: 129.123080 deg,
      new cmd heading: 129.819336 deg.

2021-08-14T23:18:53.582Z,1628983133.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:18:53.989Z,1628983133.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:18:53.989Z,1628983133.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:18:53.989Z,1628983133.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:18:53.990Z,1628983133.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:18:54.354Z,1628983134.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
023,000,02698,184,80,80,7A,FF
2021-08-14T23:18:54.354Z,1628983134.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:18:54.354Z,1628983134.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:18:54.357Z,1628983134.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:18:54.762Z,1628983134.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:18:55.589Z,1628983135.589 [Micromodem](INFO): Nmea in: $SNTTA,0.370464,,,,231855.51*4E

2021-08-14T23:18:56.450Z,1628983136.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:18:57.638Z,1628983137.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,6,02698,184,80,80,7A,FF
2021-08-14T23:18:57.638Z,1628983137.638 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,6,02698,184,80,80,7A,FF
2021-08-14T23:18:57.638Z,1628983137.638 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:18:59.267Z,1628983139.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:18:59.613Z,1628983139.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:18:59.613Z,1628983139.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:18:59.614Z,1628983139.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:18:59.615Z,1628983139.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:19:00.033Z,1628983140.033 [DUSBL_Hydroid](INFO): DUSBL response received:3,E4
!U1,P
,6,02698,184,80,80,7A,FF
2021-08-14T23:19:00.033Z,1628983140.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:19:00.033Z,1628983140.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:19:00.035Z,1628983140.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:19:00.443Z,1628983140.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:19:01.276Z,1628983141.276 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231901.19*5E

2021-08-14T23:19:01.654Z,1628983141.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E6,000,0262D,189,80,80,5A,FF
2021-08-14T23:19:01.654Z,1628983141.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:19:02.097Z,1628983142.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 548.880005 m, bearing: 93.864107 deg, deltaT: 10.916292 s, approachRate: -0.588110 m/s, LOS rate: -0.806784 deg/s, posRepo size: 4
2021-08-14T23:19:02.100Z,1628983142.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 548.880005 m,
      bearing: 93.864107 deg,
      approachRate: -0.588110 m/s,
      LOS rate: -0.806784 deg/s,
      cmd update: -3.227137 deg/s,
      cmd heading: 154.784585 deg,
      new cmd heading: 155.780520 deg.

2021-08-14T23:19:04.506Z,1628983144.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:19:04.885Z,1628983144.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:19:04.885Z,1628983144.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:19:04.886Z,1628983144.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:19:04.886Z,1628983144.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:19:05.282Z,1628983145.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E6,000,0262D,189,80,80,5A,FF
2021-08-14T23:19:05.282Z,1628983145.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:19:05.283Z,1628983145.283 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:19:05.285Z,1628983145.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:19:05.693Z,1628983145.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:19:06.518Z,1628983146.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231906.44*51

2021-08-14T23:19:06.897Z,1628983146.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,02616,189,80,80,66,FF
2021-08-14T23:19:06.898Z,1628983146.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:19:07.343Z,1628983147.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 547.500000 m, bearing: 89.934610 deg, deltaT: 5.243614 s, approachRate: -0.263178 m/s, LOS rate: -0.749387 deg/s, posRepo size: 4
2021-08-14T23:19:07.345Z,1628983147.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 547.500000 m,
      bearing: 89.934610 deg,
      approachRate: -0.263178 m/s,
      LOS rate: -0.749387 deg/s,
      cmd update: -2.997548 deg/s,
      cmd heading: 137.862780 deg,
      new cmd heading: 136.481169 deg.

2021-08-14T23:19:09.763Z,1628983149.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:19:10.129Z,1628983150.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:19:10.130Z,1628983150.130 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:19:10.131Z,1628983150.131 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:19:10.132Z,1628983150.132 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:19:10.605Z,1628983150.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,02616,189,80,80,66,FF
2021-08-14T23:19:10.605Z,1628983150.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:19:10.605Z,1628983150.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:19:10.607Z,1628983150.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:19:11.030Z,1628983151.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:19:11.832Z,1628983151.832 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231911.77*57

2021-08-14T23:19:12.245Z,1628983152.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35C,000,025F6,189,80,80,81,FF
2021-08-14T23:19:12.246Z,1628983152.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:19:12.261Z,1628983152.261 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T23:19:12.673Z,1628983152.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 545.580017 m, bearing: 97.801827 deg, deltaT: 5.396201 s, approachRate: -0.355803 m/s, LOS rate: 1.457918 deg/s, posRepo size: 4
2021-08-14T23:19:12.675Z,1628983152.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 545.580017 m,
      bearing: 97.801827 deg,
      approachRate: -0.355803 m/s,
      LOS rate: 1.457918 deg/s,
      cmd update: 5.831671 deg/s,
      cmd heading: 121.704898 deg,
      new cmd heading: 120.608275 deg.

2021-08-14T23:19:15.075Z,1628983155.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:19:15.441Z,1628983155.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:19:15.441Z,1628983155.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:19:15.441Z,1628983155.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:19:15.442Z,1628983155.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:19:15.845Z,1628983155.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35C,000,025F6,189,80,80,81,FF
2021-08-14T23:19:15.845Z,1628983155.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:19:15.845Z,1628983155.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:19:15.847Z,1628983155.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:19:16.261Z,1628983156.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:19:17.086Z,1628983157.086 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231917.01*50

2021-08-14T23:19:17.470Z,1628983157.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,025CC,18A,80,80,71,FF
2021-08-14T23:19:17.470Z,1628983157.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:19:17.904Z,1628983157.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 543.059998 m, bearing: 91.879554 deg, deltaT: 5.187476 s, approachRate: -0.485789 m/s, LOS rate: -1.141648 deg/s, posRepo size: 4
2021-08-14T23:19:17.906Z,1628983157.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 543.059998 m,
      bearing: 91.879554 deg,
      approachRate: -0.485789 m/s,
      LOS rate: -1.141648 deg/s,
      cmd update: -4.566593 deg/s,
      cmd heading: 151.990478 deg,
      new cmd heading: 154.329916 deg.

2021-08-14T23:19:20.014Z,1628983160.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:19:20.302Z,1628983160.302 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:19:20.302Z,1628983160.302 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:19:20.302Z,1628983160.302 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:19:20.303Z,1628983160.303 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:19:20.706Z,1628983160.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,025CC,18A,80,80,71,FF
2021-08-14T23:19:20.706Z,1628983160.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:19:20.706Z,1628983160.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:19:20.708Z,1628983160.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:19:21.108Z,1628983161.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:19:22.016Z,1628983162.016 [Micromodem](INFO): Nmea in: $SNTTA,0.362476,,,,231921.87*47

2021-08-14T23:19:22.332Z,1628983162.332 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D1,000,02597,189,80,80,64,FF
2021-08-14T23:19:22.333Z,1628983162.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:19:22.762Z,1628983162.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 539.880005 m, bearing: 90.615969 deg, deltaT: 4.862575 s, approachRate: -0.653973 m/s, LOS rate: -0.259859 deg/s, posRepo size: 4
2021-08-14T23:19:22.764Z,1628983162.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 539.880005 m,
      bearing: 90.615969 deg,
      approachRate: -0.653973 m/s,
      LOS rate: -0.259859 deg/s,
      cmd update: -1.039437 deg/s,
      cmd heading: 129.784918 deg,
      new cmd heading: 127.954317 deg.

2021-08-14T23:19:25.213Z,1628983165.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:19:25.546Z,1628983165.546 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:19:25.546Z,1628983165.546 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:19:25.546Z,1628983165.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:19:25.547Z,1628983165.547 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:19:25.987Z,1628983165.987 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D1,000,02597,189,80,80,64,FF
2021-08-14T23:19:25.987Z,1628983165.987 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:19:25.987Z,1628983165.987 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:19:25.989Z,1628983165.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:19:26.369Z,1628983166.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:19:27.183Z,1628983167.183 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231927.15*56

2021-08-14T23:19:27.573Z,1628983167.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A1,000,0257A,189,80,80,56,FF
2021-08-14T23:19:27.574Z,1628983167.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:19:28.111Z,1628983168.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 538.140015 m, bearing: 91.667081 deg, deltaT: 5.250664 s, approachRate: -0.331385 m/s, LOS rate: 0.200186 deg/s, posRepo size: 4
2021-08-14T23:19:28.119Z,1628983168.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 538.140015 m,
      bearing: 91.667081 deg,
      approachRate: -0.331385 m/s,
      LOS rate: 0.200186 deg/s,
      cmd update: 0.800746 deg/s,
      cmd heading: 124.331381 deg,
      new cmd heading: 123.814786 deg.

2021-08-14T23:19:30.453Z,1628983170.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:19:30.805Z,1628983170.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:19:30.806Z,1628983170.806 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:19:30.806Z,1628983170.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:19:30.807Z,1628983170.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:19:31.229Z,1628983171.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A1,000,0257A,189,80,80,56,FF
2021-08-14T23:19:31.230Z,1628983171.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:19:31.230Z,1628983171.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:19:31.231Z,1628983171.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:19:31.621Z,1628983171.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:19:32.099Z,1628983172.099 [Micromodem](INFO): Nmea in: $SNTTA,0.299539,0.299351,,,231932.39*54

2021-08-14T23:19:32.121Z,1628983172.121 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T23:19:32.826Z,1628983172.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,0254A,189,80,80,5E,FF
2021-08-14T23:19:32.826Z,1628983172.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:19:33.297Z,1628983173.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 535.259949 m, bearing: 91.058948 deg, deltaT: 5.231014 s, approachRate: -0.550575 m/s, LOS rate: -0.116255 deg/s, posRepo size: 4
2021-08-14T23:19:33.305Z,1628983173.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 535.259949 m,
      bearing: 91.058948 deg,
      approachRate: -0.550575 m/s,
      LOS rate: -0.116255 deg/s,
      cmd update: -0.465021 deg/s,
      cmd heading: 128.523210 deg,
      new cmd heading: 128.873061 deg.

2021-08-14T23:19:35.675Z,1628983175.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:19:36.061Z,1628983176.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:19:36.061Z,1628983176.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:19:36.061Z,1628983176.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:19:36.062Z,1628983176.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:19:36.457Z,1628983176.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,0254A,189,80,80,5E,FF
2021-08-14T23:19:36.457Z,1628983176.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:19:36.457Z,1628983176.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:19:36.459Z,1628983176.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:19:36.869Z,1628983176.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:19:37.702Z,1628983177.702 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231937.62*57

2021-08-14T23:19:38.083Z,1628983178.083 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,324,000,02514,188,80,80,78,FF
2021-08-14T23:19:38.084Z,1628983178.084 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:19:38.521Z,1628983178.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 532.020020 m, bearing: 89.144494 deg, deltaT: 5.348158 s, approachRate: -0.605803 m/s, LOS rate: -0.357965 deg/s, posRepo size: 4
2021-08-14T23:19:38.523Z,1628983178.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 532.020020 m,
      bearing: 89.144494 deg,
      approachRate: -0.605803 m/s,
      LOS rate: -0.357965 deg/s,
      cmd update: -1.431861 deg/s,
      cmd heading: 126.050964 deg,
      new cmd heading: 125.882910 deg.

2021-08-14T23:19:40.523Z,1628983180.523 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:19:41.022Z,1628983181.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:19:41.305Z,1628983181.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:19:41.306Z,1628983181.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:19:41.306Z,1628983181.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:19:41.307Z,1628983181.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:19:41.714Z,1628983181.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
324,000,02514,188,80,80,78,FF
2021-08-14T23:19:41.714Z,1628983181.714 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:19:41.714Z,1628983181.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:19:41.716Z,1628983181.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:19:42.130Z,1628983182.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:19:42.951Z,1628983182.951 [Micromodem](INFO): Nmea in: $SNTTA,0.355374,,,,231942.88*4C

2021-08-14T23:19:43.338Z,1628983183.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F9,000,024EA,189,80,80,74,FF
2021-08-14T23:19:43.338Z,1628983183.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:19:43.772Z,1628983183.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 529.500000 m, bearing: 88.894277 deg, deltaT: 5.180138 s, approachRate: -0.486477 m/s, LOS rate: -0.048303 deg/s, posRepo size: 4
2021-08-14T23:19:43.774Z,1628983183.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 529.500000 m,
      bearing: 88.894277 deg,
      approachRate: -0.486477 m/s,
      LOS rate: -0.048303 deg/s,
      cmd update: -0.193213 deg/s,
      cmd heading: 118.588409 deg,
      new cmd heading: 118.014768 deg.

2021-08-14T23:19:46.241Z,1628983186.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:19:46.557Z,1628983186.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:19:46.557Z,1628983186.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:19:46.557Z,1628983186.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:19:46.558Z,1628983186.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:19:46.961Z,1628983186.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F9,000,024EA,189,80,80,74,FF
2021-08-14T23:19:46.961Z,1628983186.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:19:46.961Z,1628983186.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:19:46.963Z,1628983186.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:19:47.381Z,1628983187.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:19:48.217Z,1628983188.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26C,000,01CDA,189,80,80,67,FF
2021-08-14T23:19:48.218Z,1628983188.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:19:48.221Z,1628983188.221 [Micromodem](INFO): Nmea in: $SNTTA,0.433199,0.393642,,,231948.12*54

2021-08-14T23:19:48.624Z,1628983188.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 405.659973 m, bearing: 90.936476 deg, deltaT: 4.947319 s, approachRate: -25.031744 m/s, LOS rate: 0.412789 deg/s, posRepo size: 4
2021-08-14T23:19:48.626Z,1628983188.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 405.659973 m,
      bearing: 90.936476 deg,
      approachRate: -25.031744 m/s,
      LOS rate: 0.412789 deg/s,
      cmd update: 1.651156 deg/s,
      cmd heading: 117.632484 deg,
      new cmd heading: 117.573462 deg.

2021-08-14T23:19:51.028Z,1628983191.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:19:51.405Z,1628983191.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:19:51.405Z,1628983191.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:19:51.405Z,1628983191.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:19:51.406Z,1628983191.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:19:51.817Z,1628983191.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26C,000,01CDA,189,80,80,67,FF
2021-08-14T23:19:51.817Z,1628983191.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:19:51.817Z,1628983191.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:19:51.819Z,1628983191.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:19:52.232Z,1628983192.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:19:53.050Z,1628983193.050 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231952.98*51

2021-08-14T23:19:53.850Z,1628983193.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:19:55.445Z,1628983195.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,189,80,80,67,FF
2021-08-14T23:19:55.445Z,1628983195.445 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,189,80,80,67,FF
2021-08-14T23:19:55.445Z,1628983195.445 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:19:56.686Z,1628983196.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:19:57.089Z,1628983197.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:19:57.089Z,1628983197.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:19:57.089Z,1628983197.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:19:57.090Z,1628983197.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:19:57.473Z,1628983197.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,189,80,80,67,FF
2021-08-14T23:19:57.473Z,1628983197.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:19:57.474Z,1628983197.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:19:57.475Z,1628983197.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:19:57.881Z,1628983197.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:19:58.702Z,1628983198.702 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231958.63*5F

2021-08-14T23:19:59.485Z,1628983199.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F2,000,038D0,188,80,80,63,FF
2021-08-14T23:19:59.485Z,1628983199.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:19:59.960Z,1628983199.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 835.140015 m, bearing: 90.665263 deg, deltaT: 11.231037 s, approachRate: 38.240463 m/s, LOS rate: -0.024149 deg/s, posRepo size: 4
2021-08-14T23:19:59.977Z,1628983199.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 835.140015 m,
      bearing: 90.665263 deg,
      approachRate: 38.240463 m/s,
      LOS rate: -0.024149 deg/s,
      cmd update: -0.096594 deg/s,
      cmd heading: 136.162230 deg,
      new cmd heading: 136.833686 deg.

2021-08-14T23:20:02.398Z,1628983202.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:20:02.717Z,1628983202.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:20:02.717Z,1628983202.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:20:02.717Z,1628983202.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:20:02.718Z,1628983202.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:20:03.137Z,1628983203.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F2,000,038D0,188,80,80,63,FF
2021-08-14T23:20:03.137Z,1628983203.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:20:03.137Z,1628983203.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:20:03.139Z,1628983203.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:20:03.533Z,1628983203.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:20:04.350Z,1628983204.350 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232004.30*5A

2021-08-14T23:20:04.745Z,1628983204.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38D,000,02423,189,80,80,6A,FF
2021-08-14T23:20:04.745Z,1628983204.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:20:05.220Z,1628983205.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 517.559998 m, bearing: 90.021429 deg, deltaT: 5.213708 s, approachRate: -60.912506 m/s, LOS rate: -0.123489 deg/s, posRepo size: 4
2021-08-14T23:20:05.222Z,1628983205.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 517.559998 m,
      bearing: 90.021429 deg,
      approachRate: -60.912506 m/s,
      LOS rate: -0.123489 deg/s,
      cmd update: -0.493955 deg/s,
      cmd heading: 135.657769 deg,
      new cmd heading: 135.613706 deg.

2021-08-14T23:20:07.591Z,1628983207.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:20:08.017Z,1628983208.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:20:08.017Z,1628983208.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:20:08.017Z,1628983208.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:20:08.018Z,1628983208.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:20:08.381Z,1628983208.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38D,000,02423,189,80,80,6A,FF
2021-08-14T23:20:08.381Z,1628983208.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:20:08.381Z,1628983208.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:20:08.383Z,1628983208.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:20:08.801Z,1628983208.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:20:09.614Z,1628983209.614 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232009.54*55

2021-08-14T23:20:10.021Z,1628983210.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BE,000,023FA,189,80,80,81,FF
2021-08-14T23:20:10.021Z,1628983210.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:20:10.448Z,1628983210.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 515.099976 m, bearing: 87.710482 deg, deltaT: 5.319739 s, approachRate: -0.462433 m/s, LOS rate: -0.434410 deg/s, posRepo size: 4
2021-08-14T23:20:10.450Z,1628983210.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 515.099976 m,
      bearing: 87.710482 deg,
      approachRate: -0.462433 m/s,
      LOS rate: -0.434410 deg/s,
      cmd update: -1.737639 deg/s,
      cmd heading: 133.030069 deg,
      new cmd heading: 132.849790 deg.

2021-08-14T23:20:12.858Z,1628983212.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:20:13.249Z,1628983213.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:20:13.250Z,1628983213.250 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:20:13.250Z,1628983213.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:20:13.251Z,1628983213.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:20:13.623Z,1628983213.623 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BE,000,023FA,189,80,80,81,FF
2021-08-14T23:20:13.623Z,1628983213.623 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:20:13.623Z,1628983213.623 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:20:13.626Z,1628983213.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:20:14.041Z,1628983214.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:20:14.858Z,1628983214.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232014.78*57

2021-08-14T23:20:15.264Z,1628983215.264 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,388,000,023D1,189,80,80,56,FF
2021-08-14T23:20:15.265Z,1628983215.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:20:15.688Z,1628983215.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 512.639954 m, bearing: 87.353441 deg, deltaT: 5.260922 s, approachRate: -0.467603 m/s, LOS rate: -0.067867 deg/s, posRepo size: 4
2021-08-14T23:20:15.690Z,1628983215.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 512.639954 m,
      bearing: 87.353441 deg,
      approachRate: -0.467603 m/s,
      LOS rate: -0.067867 deg/s,
      cmd update: -0.271467 deg/s,
      cmd heading: 123.903997 deg,
      new cmd heading: 123.291625 deg.

2021-08-14T23:20:18.128Z,1628983218.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:20:18.473Z,1628983218.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:20:18.473Z,1628983218.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:20:18.473Z,1628983218.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:20:18.474Z,1628983218.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:20:18.877Z,1628983218.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
388,000,023D1,189,80,80,56,FF
2021-08-14T23:20:18.877Z,1628983218.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:20:18.878Z,1628983218.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:20:18.879Z,1628983218.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:20:19.315Z,1628983219.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:20:20.091Z,1628983220.091 [Micromodem](INFO): Nmea in: $SNTTA,0.434065,0.434859,,,232020.04*5C

2021-08-14T23:20:20.507Z,1628983220.507 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32B,000,023AF,189,80,80,5F,FF
2021-08-14T23:20:20.507Z,1628983220.507 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:20:20.947Z,1628983220.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 510.599976 m, bearing: 85.831586 deg, deltaT: 5.191150 s, approachRate: -0.392972 m/s, LOS rate: -0.293163 deg/s, posRepo size: 4
2021-08-14T23:20:20.951Z,1628983220.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 510.599976 m,
      bearing: 85.831586 deg,
      approachRate: -0.392972 m/s,
      LOS rate: -0.293163 deg/s,
      cmd update: -1.172653 deg/s,
      cmd heading: 122.492335 deg,
      new cmd heading: 122.380780 deg.

2021-08-14T23:20:23.400Z,1628983223.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:20:23.740Z,1628983223.740 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:20:23.740Z,1628983223.740 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:20:23.740Z,1628983223.740 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:20:23.741Z,1628983223.741 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:20:24.129Z,1628983224.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32B,000,023AF,189,80,80,5F,FF
2021-08-14T23:20:24.129Z,1628983224.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:20:24.130Z,1628983224.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:20:24.134Z,1628983224.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:20:24.553Z,1628983224.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:20:25.366Z,1628983225.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232025.30*59

2021-08-14T23:20:25.753Z,1628983225.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B4,000,0237F,189,80,80,49,FF
2021-08-14T23:20:25.754Z,1628983225.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:20:26.254Z,1628983226.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 507.720001 m, bearing: 87.107766 deg, deltaT: 5.236090 s, approachRate: -0.550024 m/s, LOS rate: 0.243728 deg/s, posRepo size: 4
2021-08-14T23:20:26.264Z,1628983226.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 507.720001 m,
      bearing: 87.107766 deg,
      approachRate: -0.550024 m/s,
      LOS rate: 0.243728 deg/s,
      cmd update: 0.974911 deg/s,
      cmd heading: 116.352320 deg,
      new cmd heading: 115.792260 deg.

2021-08-14T23:20:28.591Z,1628983228.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:20:28.985Z,1628983228.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:20:28.985Z,1628983228.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:20:28.985Z,1628983228.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:20:28.986Z,1628983228.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:20:29.385Z,1628983229.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B4,000,0237F,189,80,80,49,FF
2021-08-14T23:20:29.385Z,1628983229.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:20:29.385Z,1628983229.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:20:29.387Z,1628983229.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:20:29.794Z,1628983229.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:20:30.623Z,1628983230.623 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232030.55*5E

2021-08-14T23:20:30.997Z,1628983230.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22A,000,02344,189,80,80,62,FF
2021-08-14T23:20:30.997Z,1628983230.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:20:31.438Z,1628983231.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 504.179962 m, bearing: 91.703315 deg, deltaT: 5.243650 s, approachRate: -0.675110 m/s, LOS rate: 0.876403 deg/s, posRepo size: 4
2021-08-14T23:20:31.456Z,1628983231.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 504.179962 m,
      bearing: 91.703315 deg,
      approachRate: -0.675110 m/s,
      LOS rate: 0.876403 deg/s,
      cmd update: 3.505611 deg/s,
      cmd heading: 121.464511 deg,
      new cmd heading: 121.876526 deg.

2021-08-14T23:20:33.847Z,1628983233.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:20:34.237Z,1628983234.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:20:34.237Z,1628983234.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:20:34.237Z,1628983234.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:20:34.238Z,1628983234.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:20:34.634Z,1628983234.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22A,000,02344,189,80,80,62,FF
2021-08-14T23:20:34.634Z,1628983234.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:20:34.634Z,1628983234.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:20:34.636Z,1628983234.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:20:35.045Z,1628983235.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:20:35.867Z,1628983235.867 [Micromodem](INFO): Nmea in: $SNTTA,0.336812,,,,232035.80*40

2021-08-14T23:20:36.253Z,1628983236.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B0,000,02315,189,80,80,4E,FF
2021-08-14T23:20:36.254Z,1628983236.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:20:36.684Z,1628983236.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 501.359985 m, bearing: 90.960819 deg, deltaT: 5.349687 s, approachRate: -0.527129 m/s, LOS rate: -0.138792 deg/s, posRepo size: 4
2021-08-14T23:20:36.686Z,1628983236.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 501.359985 m,
      bearing: 90.960819 deg,
      approachRate: -0.527129 m/s,
      LOS rate: -0.138792 deg/s,
      cmd update: -0.555170 deg/s,
      cmd heading: 140.189567 deg,
      new cmd heading: 141.337592 deg.

2021-08-14T23:20:39.103Z,1628983239.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:20:39.481Z,1628983239.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:20:39.481Z,1628983239.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:20:39.481Z,1628983239.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:20:39.482Z,1628983239.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:20:39.885Z,1628983239.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B0,000,02315,189,80,80,4E,FF
2021-08-14T23:20:39.885Z,1628983239.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:20:39.885Z,1628983239.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:20:39.887Z,1628983239.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:20:40.295Z,1628983240.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:20:41.121Z,1628983241.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D0,000,02315,189,80,80,4E,FF
2021-08-14T23:20:41.122Z,1628983241.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:20:41.126Z,1628983241.126 [Micromodem](INFO): Nmea in: $SNTTA,0.334228,,,,232041.05*4F

2021-08-14T23:20:41.547Z,1628983241.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 501.359985 m, bearing: 88.682917 deg, deltaT: 4.848237 s, approachRate: 0.000000 m/s, LOS rate: -0.469841 deg/s, posRepo size: 4
2021-08-14T23:20:41.549Z,1628983241.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 501.359985 m,
      bearing: 88.682917 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.469841 deg/s,
      cmd update: -1.879365 deg/s,
      cmd heading: 137.500567 deg,
      new cmd heading: 137.308070 deg.

2021-08-14T23:20:44.004Z,1628983244.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:20:44.337Z,1628983244.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:20:44.337Z,1628983244.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:20:44.337Z,1628983244.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:20:44.338Z,1628983244.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:20:44.741Z,1628983244.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D0,000,02315,189,80,80,4E,FF
2021-08-14T23:20:44.741Z,1628983244.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:20:44.741Z,1628983244.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:20:44.743Z,1628983244.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:20:45.159Z,1628983245.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:20:45.998Z,1628983245.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D0,000,022C0,189,80,80,4E,FF
2021-08-14T23:20:45.998Z,1628983245.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:20:46.003Z,1628983246.003 [Micromodem](INFO): Nmea in: $SNTTA,0.334384,,,,232045.91*41

2021-08-14T23:20:46.380Z,1628983246.380 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T23:20:46.409Z,1628983246.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 496.259979 m, bearing: 88.150783 deg, deltaT: 4.879186 s, approachRate: -1.045258 m/s, LOS rate: -0.109062 deg/s, posRepo size: 4
2021-08-14T23:20:46.411Z,1628983246.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 496.259979 m,
      bearing: 88.150783 deg,
      approachRate: -1.045258 m/s,
      LOS rate: -0.109062 deg/s,
      cmd update: -0.436248 deg/s,
      cmd heading: 128.314028 deg,
      new cmd heading: 127.711263 deg.

2021-08-14T23:20:48.794Z,1628983248.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:20:49.193Z,1628983249.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:20:49.193Z,1628983249.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:20:49.193Z,1628983249.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:20:49.194Z,1628983249.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:20:49.581Z,1628983249.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D0,000,022C0,189,80,80,4E,FF
2021-08-14T23:20:49.581Z,1628983249.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:20:49.581Z,1628983249.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:20:49.583Z,1628983249.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:20:50.021Z,1628983250.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:20:50.818Z,1628983250.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,370,000,022C0,189,80,80,4E,FF
2021-08-14T23:20:50.818Z,1628983250.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:20:50.846Z,1628983250.846 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232050.74*5B

2021-08-14T23:20:51.313Z,1628983251.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 496.259979 m, bearing: 86.656324 deg, deltaT: 4.796715 s, approachRate: 0.000000 m/s, LOS rate: -0.311559 deg/s, posRepo size: 4
2021-08-14T23:20:51.315Z,1628983251.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 496.259979 m,
      bearing: 86.656324 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.311559 deg/s,
      cmd update: -1.246235 deg/s,
      cmd heading: 126.225124 deg,
      new cmd heading: 126.045468 deg.

2021-08-14T23:20:53.643Z,1628983253.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:20:54.025Z,1628983254.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:20:54.025Z,1628983254.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:20:54.025Z,1628983254.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:20:54.026Z,1628983254.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:20:54.441Z,1628983254.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
370,000,022C0,189,80,80,4E,FF
2021-08-14T23:20:54.441Z,1628983254.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:20:54.441Z,1628983254.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:20:54.443Z,1628983254.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:20:54.841Z,1628983254.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:20:55.667Z,1628983255.667 [Micromodem](INFO): Nmea in: $SNTTA,0.329929,,,,232055.61*4E

2021-08-14T23:20:56.042Z,1628983256.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,328,000,02274,189,80,80,78,FF
2021-08-14T23:20:56.042Z,1628983256.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:20:56.508Z,1628983256.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 491.700012 m, bearing: 85.315121 deg, deltaT: 5.229968 s, approachRate: -0.871892 m/s, LOS rate: -0.256446 deg/s, posRepo size: 4
2021-08-14T23:20:56.510Z,1628983256.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 491.700012 m,
      bearing: 85.315121 deg,
      approachRate: -0.871892 m/s,
      LOS rate: -0.256446 deg/s,
      cmd update: -1.025783 deg/s,
      cmd heading: 119.702206 deg,
      new cmd heading: 119.212238 deg.

2021-08-14T23:20:58.890Z,1628983258.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:20:59.282Z,1628983259.282 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:20:59.282Z,1628983259.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:20:59.282Z,1628983259.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:20:59.283Z,1628983259.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:20:59.693Z,1628983259.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
328,000,02274,189,80,80,78,FF
2021-08-14T23:20:59.693Z,1628983259.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:20:59.694Z,1628983259.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:20:59.695Z,1628983259.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:21:00.101Z,1628983260.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:21:01.751Z,1628983261.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:21:04.586Z,1628983264.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:21:05.356Z,1628983265.356 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.073014
2021-08-14T23:21:07.405Z,1628983267.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:21:07.761Z,1628983267.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:21:07.761Z,1628983267.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:21:07.761Z,1628983267.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:21:07.762Z,1628983267.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:21:08.186Z,1628983268.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
328,000,02274,189,80,80,78,FF
2021-08-14T23:21:08.186Z,1628983268.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:21:08.186Z,1628983268.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:21:08.189Z,1628983268.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:21:08.572Z,1628983268.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:21:09.389Z,1628983269.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232109.35*53

2021-08-14T23:21:09.795Z,1628983269.795 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,195,000,021F1,185,80,80,6A,FF
2021-08-14T23:21:09.796Z,1628983269.796 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:21:10.293Z,1628983270.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 483.839966 m, bearing: 91.467708 deg, deltaT: 13.703666 s, approachRate: -0.573573 m/s, LOS rate: 0.448974 deg/s, posRepo size: 4
2021-08-14T23:21:10.299Z,1628983270.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 483.839966 m,
      bearing: 91.467708 deg,
      approachRate: -0.573573 m/s,
      LOS rate: 0.448974 deg/s,
      cmd update: 1.795895 deg/s,
      cmd heading: 105.636805 deg,
      new cmd heading: 105.155065 deg.

2021-08-14T23:21:12.349Z,1628983272.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:21:12.609Z,1628983272.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:21:12.609Z,1628983272.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:21:12.609Z,1628983272.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:21:12.610Z,1628983272.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:21:13.025Z,1628983273.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
195,000,021F1,185,80,80,6A,FF
2021-08-14T23:21:13.026Z,1628983273.026 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:21:13.026Z,1628983273.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:21:13.029Z,1628983273.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:21:13.420Z,1628983273.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:21:14.232Z,1628983274.232 [Micromodem](INFO): Nmea in: $SNTTA,0.399951,0.359082,,,232114.19*5A

2021-08-14T23:21:14.629Z,1628983274.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,021C3,186,80,80,66,FF
2021-08-14T23:21:14.629Z,1628983274.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:21:15.063Z,1628983275.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 481.079987 m, bearing: 93.584629 deg, deltaT: 4.872089 s, approachRate: -0.566488 m/s, LOS rate: 0.434500 deg/s, posRepo size: 4
2021-08-14T23:21:15.066Z,1628983275.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 481.079987 m,
      bearing: 93.584629 deg,
      approachRate: -0.566488 m/s,
      LOS rate: 0.434500 deg/s,
      cmd update: 1.737999 deg/s,
      cmd heading: 114.365708 deg,
      new cmd heading: 115.049253 deg.

2021-08-14T23:21:17.495Z,1628983277.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:21:17.861Z,1628983277.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:21:17.861Z,1628983277.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:21:17.861Z,1628983277.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:21:17.862Z,1628983277.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:21:18.269Z,1628983278.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,021C3,186,80,80,66,FF
2021-08-14T23:21:18.270Z,1628983278.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:21:18.270Z,1628983278.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:21:18.273Z,1628983278.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:21:18.673Z,1628983278.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:21:19.499Z,1628983279.499 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,0218C,186,80,80,66,FF
2021-08-14T23:21:19.500Z,1628983279.500 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:21:19.504Z,1628983279.504 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232119.43*53

2021-08-14T23:21:19.914Z,1628983279.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 477.779968 m, bearing: 92.245072 deg, deltaT: 4.881499 s, approachRate: -0.676026 m/s, LOS rate: -0.274415 deg/s, posRepo size: 4
2021-08-14T23:21:19.922Z,1628983279.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 477.779968 m,
      bearing: 92.245072 deg,
      approachRate: -0.676026 m/s,
      LOS rate: -0.274415 deg/s,
      cmd update: -1.097660 deg/s,
      cmd heading: 122.847773 deg,
      new cmd heading: 123.457319 deg.

2021-08-14T23:21:22.386Z,1628983282.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:21:22.709Z,1628983282.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:21:22.709Z,1628983282.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:21:22.709Z,1628983282.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:21:22.710Z,1628983282.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:21:23.121Z,1628983283.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AC,000,0218C,186,80,80,66,FF
2021-08-14T23:21:23.121Z,1628983283.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:21:23.121Z,1628983283.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:21:23.123Z,1628983283.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:21:23.543Z,1628983283.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:21:24.364Z,1628983284.364 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,0215A,189,80,80,66,FF
2021-08-14T23:21:24.364Z,1628983284.364 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:21:24.368Z,1628983284.368 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232124.28*50

2021-08-14T23:21:24.754Z,1628983284.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 474.779999 m, bearing: 87.183376 deg, deltaT: 4.923862 s, approachRate: -0.609272 m/s, LOS rate: -1.027993 deg/s, posRepo size: 4
2021-08-14T23:21:24.757Z,1628983284.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 474.779999 m,
      bearing: 87.183376 deg,
      approachRate: -0.609272 m/s,
      LOS rate: -1.027993 deg/s,
      cmd update: -4.111972 deg/s,
      cmd heading: 117.449886 deg,
      new cmd heading: 117.149736 deg.

2021-08-14T23:21:27.226Z,1628983287.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:21:27.561Z,1628983287.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:21:27.561Z,1628983287.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:21:27.561Z,1628983287.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:21:27.562Z,1628983287.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:21:28.001Z,1628983288.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,0215A,189,80,80,66,FF
2021-08-14T23:21:28.001Z,1628983288.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:21:28.001Z,1628983288.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:21:28.003Z,1628983288.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:21:28.379Z,1628983288.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:21:29.196Z,1628983289.196 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232129.17*51

2021-08-14T23:21:29.581Z,1628983289.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,0212D,188,80,80,64,FF
2021-08-14T23:21:29.581Z,1628983289.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:21:30.071Z,1628983290.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 472.080017 m, bearing: 87.622243 deg, deltaT: 5.127071 s, approachRate: -0.526613 m/s, LOS rate: 0.085598 deg/s, posRepo size: 4
2021-08-14T23:21:30.073Z,1628983290.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 472.080017 m,
      bearing: 87.622243 deg,
      approachRate: -0.526613 m/s,
      LOS rate: 0.085598 deg/s,
      cmd update: 0.342392 deg/s,
      cmd heading: 96.291534 deg,
      new cmd heading: 94.462558 deg.

2021-08-14T23:21:32.142Z,1628983292.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:21:32.414Z,1628983292.414 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:21:32.414Z,1628983292.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:21:32.415Z,1628983292.415 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:21:32.417Z,1628983292.417 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:21:32.814Z,1628983292.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,0212D,188,80,80,64,FF
2021-08-14T23:21:32.815Z,1628983292.815 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:21:32.815Z,1628983292.815 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:21:32.839Z,1628983292.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:21:33.236Z,1628983293.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:21:34.045Z,1628983294.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,0212D,188,80,80,64,FF
2021-08-14T23:21:34.046Z,1628983294.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:21:34.053Z,1628983294.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232134.00*5B

2021-08-14T23:21:34.470Z,1628983294.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 472.080017 m, bearing: 96.727998 deg, deltaT: 4.494307 s, approachRate: 0.000000 m/s, LOS rate: 2.026064 deg/s, posRepo size: 4
2021-08-14T23:21:34.473Z,1628983294.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 472.080017 m,
      bearing: 96.727998 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.026064 deg/s,
      cmd update: 8.104258 deg/s,
      cmd heading: 97.830452 deg,
      new cmd heading: 97.950053 deg.

2021-08-14T23:21:36.899Z,1628983296.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:21:37.265Z,1628983297.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:21:37.265Z,1628983297.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:21:37.265Z,1628983297.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:21:37.266Z,1628983297.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:21:37.665Z,1628983297.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,0212D,188,80,80,64,FF
2021-08-14T23:21:37.665Z,1628983297.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:21:37.665Z,1628983297.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:21:37.667Z,1628983297.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:21:38.069Z,1628983298.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:21:38.893Z,1628983298.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03E,000,020CC,185,80,80,7B,FF
2021-08-14T23:21:38.894Z,1628983298.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:21:38.897Z,1628983298.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232138.83*5C

2021-08-14T23:21:39.325Z,1628983299.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 466.259979 m, bearing: 96.654178 deg, deltaT: 4.824789 s, approachRate: -1.206278 m/s, LOS rate: -0.015300 deg/s, posRepo size: 4
2021-08-14T23:21:39.327Z,1628983299.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 466.259979 m,
      bearing: 96.654178 deg,
      approachRate: -1.206278 m/s,
      LOS rate: -0.015300 deg/s,
      cmd update: -0.061201 deg/s,
      cmd heading: 136.673909 deg,
      new cmd heading: 140.004070 deg.

2021-08-14T23:21:41.719Z,1628983301.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:21:42.124Z,1628983302.124 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:21:42.124Z,1628983302.124 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:21:42.126Z,1628983302.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:21:42.129Z,1628983302.129 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:21:42.509Z,1628983302.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03E,000,020CC,185,80,80,7B,FF
2021-08-14T23:21:42.509Z,1628983302.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:21:42.510Z,1628983302.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:21:42.511Z,1628983302.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:21:42.928Z,1628983302.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:21:43.745Z,1628983303.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BB,000,0209A,185,80,80,54,FF
2021-08-14T23:21:43.745Z,1628983303.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:21:43.772Z,1628983303.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232143.67*5A

2021-08-14T23:21:44.233Z,1628983304.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 463.260010 m, bearing: 94.193650 deg, deltaT: 4.841642 s, approachRate: -0.619618 m/s, LOS rate: -0.508201 deg/s, posRepo size: 4
2021-08-14T23:21:44.235Z,1628983304.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 463.260010 m,
      bearing: 94.193650 deg,
      approachRate: -0.619618 m/s,
      LOS rate: -0.508201 deg/s,
      cmd update: -2.032805 deg/s,
      cmd heading: 136.375637 deg,
      new cmd heading: 136.349369 deg.

2021-08-14T23:21:46.576Z,1628983306.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:21:46.953Z,1628983306.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:21:46.953Z,1628983306.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:21:46.953Z,1628983306.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:21:46.954Z,1628983306.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:21:47.354Z,1628983307.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BB,000,0209A,185,80,80,54,FF
2021-08-14T23:21:47.354Z,1628983307.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:21:47.354Z,1628983307.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:21:47.356Z,1628983307.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:21:47.773Z,1628983307.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:21:48.600Z,1628983308.600 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,397,000,02071,189,80,80,8B,FF
2021-08-14T23:21:48.601Z,1628983308.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:21:48.603Z,1628983308.603 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232148.52*57

2021-08-14T23:21:49.003Z,1628983309.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 460.799988 m, bearing: 85.875818 deg, deltaT: 4.837684 s, approachRate: -0.508512 m/s, LOS rate: -1.719383 deg/s, posRepo size: 4
2021-08-14T23:21:49.006Z,1628983309.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 460.799988 m,
      bearing: 85.875818 deg,
      approachRate: -0.508512 m/s,
      LOS rate: -1.719383 deg/s,
      cmd update: -6.877532 deg/s,
      cmd heading: 126.542350 deg,
      new cmd heading: 125.772746 deg.

2021-08-14T23:21:51.439Z,1628983311.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:21:51.809Z,1628983311.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:21:51.809Z,1628983311.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:21:51.809Z,1628983311.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:21:51.810Z,1628983311.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:21:52.229Z,1628983312.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
397,000,02071,189,80,80,8B,FF
2021-08-14T23:21:52.229Z,1628983312.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:21:52.229Z,1628983312.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:21:52.231Z,1628983312.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:21:52.617Z,1628983312.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:21:53.431Z,1628983313.431 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,305,000,02041,189,80,80,8B,FF
2021-08-14T23:21:53.436Z,1628983313.436 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:21:53.444Z,1628983313.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232153.39*50

2021-08-14T23:21:53.857Z,1628983313.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 457.920013 m, bearing: 87.487005 deg, deltaT: 4.887336 s, approachRate: -0.589273 m/s, LOS rate: 0.329666 deg/s, posRepo size: 4
2021-08-14T23:21:53.859Z,1628983313.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 457.920013 m,
      bearing: 87.487005 deg,
      approachRate: -0.589273 m/s,
      LOS rate: 0.329666 deg/s,
      cmd update: 1.318663 deg/s,
      cmd heading: 92.986719 deg,
      new cmd heading: 90.562458 deg.

2021-08-14T23:21:56.334Z,1628983316.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:21:56.645Z,1628983316.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:21:56.645Z,1628983316.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:21:56.645Z,1628983316.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:21:56.646Z,1628983316.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:21:57.057Z,1628983317.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
305,000,02041,189,80,80,8B,FF
2021-08-14T23:21:57.057Z,1628983317.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:21:57.057Z,1628983317.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:21:57.059Z,1628983317.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:21:57.461Z,1628983317.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:21:57.487Z,1628983317.487 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T23:21:58.294Z,1628983318.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E2,000,02021,186,80,80,7F,FF
2021-08-14T23:21:58.295Z,1628983318.295 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:21:58.299Z,1628983318.299 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232158.22*51

2021-08-14T23:21:58.712Z,1628983318.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 456.000000 m, bearing: 93.738104 deg, deltaT: 4.873062 s, approachRate: -0.394006 m/s, LOS rate: 1.282787 deg/s, posRepo size: 4
2021-08-14T23:21:58.714Z,1628983318.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 456.000000 m,
      bearing: 93.738104 deg,
      approachRate: -0.394006 m/s,
      LOS rate: 1.282787 deg/s,
      cmd update: 5.131146 deg/s,
      cmd heading: 99.417284 deg,
      new cmd heading: 99.853999 deg.

2021-08-14T23:22:01.142Z,1628983321.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:22:01.505Z,1628983321.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:22:01.505Z,1628983321.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:22:01.505Z,1628983321.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:22:01.506Z,1628983321.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:22:01.914Z,1628983321.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E2,000,02021,186,80,80,7F,FF
2021-08-14T23:22:01.915Z,1628983321.915 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:22:01.915Z,1628983321.915 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:22:01.922Z,1628983321.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:22:02.313Z,1628983322.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:22:03.131Z,1628983323.131 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,01FEF,186,80,80,7F,FF
2021-08-14T23:22:03.132Z,1628983323.132 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:22:03.136Z,1628983323.136 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232203.08*54

2021-08-14T23:22:03.595Z,1628983323.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 452.999969 m, bearing: 94.058474 deg, deltaT: 4.811768 s, approachRate: -0.623478 m/s, LOS rate: 0.066581 deg/s, posRepo size: 4
2021-08-14T23:22:03.601Z,1628983323.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 452.999969 m,
      bearing: 94.058474 deg,
      approachRate: -0.623478 m/s,
      LOS rate: 0.066581 deg/s,
      cmd update: 0.266322 deg/s,
      cmd heading: 124.107524 deg,
      new cmd heading: 126.171322 deg.

2021-08-14T23:22:06.026Z,1628983326.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:22:06.361Z,1628983326.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:22:06.361Z,1628983326.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:22:06.361Z,1628983326.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:22:06.362Z,1628983326.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:22:06.762Z,1628983326.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,01FEF,186,80,80,7F,FF
2021-08-14T23:22:06.762Z,1628983326.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:22:06.762Z,1628983326.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:22:06.765Z,1628983326.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:22:07.193Z,1628983327.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:22:08.029Z,1628983328.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,01FBF,186,80,80,8E,FF
2021-08-14T23:22:08.029Z,1628983328.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:22:08.033Z,1628983328.033 [Micromodem](INFO): Nmea in: $SNTTA,0.491050,0.491375,,,232207.93*56

2021-08-14T23:22:08.441Z,1628983328.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 450.119995 m, bearing: 90.774956 deg, deltaT: 4.908415 s, approachRate: -0.586742 m/s, LOS rate: -0.668957 deg/s, posRepo size: 4
2021-08-14T23:22:08.443Z,1628983328.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 450.119995 m,
      bearing: 90.774956 deg,
      approachRate: -0.586742 m/s,
      LOS rate: -0.668957 deg/s,
      cmd update: -2.675827 deg/s,
      cmd heading: 125.413747 deg,
      new cmd heading: 125.500010 deg.

2021-08-14T23:22:10.850Z,1628983330.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:22:11.225Z,1628983331.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:22:11.225Z,1628983331.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:22:11.225Z,1628983331.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:22:11.226Z,1628983331.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:22:11.610Z,1628983331.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,01FBF,186,80,80,8E,FF
2021-08-14T23:22:11.611Z,1628983331.611 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:22:11.611Z,1628983331.611 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:22:11.614Z,1628983331.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:22:12.037Z,1628983332.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:22:12.845Z,1628983332.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,316,000,01F91,189,80,80,A6,FF
2021-08-14T23:22:12.845Z,1628983332.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:22:12.849Z,1628983332.849 [Micromodem](INFO): Nmea in: $SNTTA,,0.067302,,,232212.77*42

2021-08-14T23:22:13.313Z,1628983333.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 447.360016 m, bearing: 85.921505 deg, deltaT: 4.795088 s, approachRate: -0.575585 m/s, LOS rate: -1.012171 deg/s, posRepo size: 4
2021-08-14T23:22:13.315Z,1628983333.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 447.360016 m,
      bearing: 85.921505 deg,
      approachRate: -0.575585 m/s,
      LOS rate: -1.012171 deg/s,
      cmd update: -4.048685 deg/s,
      cmd heading: 112.656315 deg,
      new cmd heading: 111.457057 deg.

2021-08-14T23:22:15.675Z,1628983335.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:22:16.053Z,1628983336.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:22:16.053Z,1628983336.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:22:16.053Z,1628983336.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:22:16.054Z,1628983336.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:22:16.453Z,1628983336.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
316,000,01F91,189,80,80,A6,FF
2021-08-14T23:22:16.453Z,1628983336.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:22:16.453Z,1628983336.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:22:16.455Z,1628983336.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:22:16.867Z,1628983336.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:22:17.685Z,1628983337.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C5,000,01C0F,186,80,80,72,FF
2021-08-14T23:22:17.685Z,1628983337.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:22:17.712Z,1628983337.712 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232217.62*5D

2021-08-14T23:22:18.188Z,1628983338.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 393.479980 m, bearing: 89.035682 deg, deltaT: 4.831726 s, approachRate: -11.151302 m/s, LOS rate: 0.644527 deg/s, posRepo size: 4
2021-08-14T23:22:18.190Z,1628983338.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 393.479980 m,
      bearing: 89.035682 deg,
      approachRate: -11.151302 m/s,
      LOS rate: 0.644527 deg/s,
      cmd update: 2.578107 deg/s,
      cmd heading: 92.948133 deg,
      new cmd heading: 91.158129 deg.

2021-08-14T23:22:20.528Z,1628983340.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:22:20.893Z,1628983340.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:22:20.893Z,1628983340.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:22:20.893Z,1628983340.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:22:20.894Z,1628983340.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:22:21.298Z,1628983341.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C5,000,01C0F,186,80,80,72,FF
2021-08-14T23:22:21.298Z,1628983341.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:22:21.298Z,1628983341.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:22:21.301Z,1628983341.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:22:21.348Z,1628983341.348 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T23:22:21.709Z,1628983341.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:22:22.529Z,1628983342.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,01F3D,183,80,80,76,FF
2021-08-14T23:22:22.529Z,1628983342.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:22:22.533Z,1628983342.533 [Micromodem](INFO): Nmea in: $SNTTA,0.298442,,,,232222.46*42

2021-08-14T23:22:22.955Z,1628983342.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 442.320007 m, bearing: 95.662414 deg, deltaT: 4.816629 s, approachRate: 10.139877 m/s, LOS rate: 1.375803 deg/s, posRepo size: 4
2021-08-14T23:22:22.958Z,1628983342.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 442.320007 m,
      bearing: 95.662414 deg,
      approachRate: 10.139877 m/s,
      LOS rate: 1.375803 deg/s,
      cmd update: 5.503211 deg/s,
      cmd heading: 105.364839 deg,
      new cmd heading: 106.413618 deg.

2021-08-14T23:22:25.374Z,1628983345.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:22:25.741Z,1628983345.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:22:25.741Z,1628983345.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:22:25.741Z,1628983345.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:22:25.742Z,1628983345.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:22:26.153Z,1628983346.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,01F3D,183,80,80,76,FF
2021-08-14T23:22:26.153Z,1628983346.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:22:26.154Z,1628983346.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:22:26.160Z,1628983346.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:22:26.566Z,1628983346.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:22:27.385Z,1628983347.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05A,000,01F0D,186,80,80,6F,FF
2021-08-14T23:22:27.385Z,1628983347.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:22:27.408Z,1628983347.408 [Micromodem](INFO): Nmea in: $SNTTA,,0.295594,,,232227.32*43

2021-08-14T23:22:27.417Z,1628983347.417 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-14T23:22:27.822Z,1628983347.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 439.439972 m, bearing: 94.585785 deg, deltaT: 4.880386 s, approachRate: -0.590124 m/s, LOS rate: -0.220603 deg/s, posRepo size: 4
2021-08-14T23:22:27.825Z,1628983347.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 439.439972 m,
      bearing: 94.585785 deg,
      approachRate: -0.590124 m/s,
      LOS rate: -0.220603 deg/s,
      cmd update: -0.882413 deg/s,
      cmd heading: 132.226172 deg,
      new cmd heading: 134.385874 deg.

2021-08-14T23:22:30.291Z,1628983350.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:22:30.589Z,1628983350.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:22:30.589Z,1628983350.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:22:30.589Z,1628983350.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:22:30.590Z,1628983350.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:22:30.998Z,1628983350.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05A,000,01F0D,186,80,80,6F,FF
2021-08-14T23:22:30.998Z,1628983350.998 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:22:30.998Z,1628983350.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:22:30.000Z,1628983351.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:22:31.416Z,1628983351.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:22:32.257Z,1628983352.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F1,000,01EDC,187,80,80,6D,FF
2021-08-14T23:22:32.257Z,1628983352.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:22:32.261Z,1628983352.261 [Micromodem](INFO): Nmea in: $SNTTA,0.293759,,,,232232.16*44

2021-08-14T23:22:32.295Z,1628983352.295 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 52
2021-08-14T23:22:32.648Z,1628983352.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 436.500000 m, bearing: 90.177444 deg, deltaT: 4.927333 s, approachRate: -0.596666 m/s, LOS rate: -0.894671 deg/s, posRepo size: 4
2021-08-14T23:22:32.650Z,1628983352.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 436.500000 m,
      bearing: 90.177444 deg,
      approachRate: -0.596666 m/s,
      LOS rate: -0.894671 deg/s,
      cmd update: -3.578683 deg/s,
      cmd heading: 127.888062 deg,
      new cmd heading: 127.621904 deg.

2021-08-14T23:22:35.055Z,1628983355.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:22:35.438Z,1628983355.438 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:22:35.438Z,1628983355.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:22:35.438Z,1628983355.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:22:35.439Z,1628983355.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:22:35.853Z,1628983355.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F1,000,01EDC,187,80,80,6D,FF
2021-08-14T23:22:35.853Z,1628983355.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:22:35.853Z,1628983355.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:22:35.855Z,1628983355.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:22:36.253Z,1628983356.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:22:37.080Z,1628983357.080 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34A,000,01EB1,188,80,80,9F,FF
2021-08-14T23:22:37.081Z,1628983357.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:22:37.084Z,1628983357.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232237.02*59

2021-08-14T23:22:37.487Z,1628983357.487 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 50
2021-08-14T23:22:37.528Z,1628983357.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 433.919983 m, bearing: 84.735443 deg, deltaT: 4.743071 s, approachRate: -0.543955 m/s, LOS rate: -1.147358 deg/s, posRepo size: 4
2021-08-14T23:22:37.530Z,1628983357.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 433.919983 m,
      bearing: 84.735443 deg,
      approachRate: -0.543955 m/s,
      LOS rate: -1.147358 deg/s,
      cmd update: -4.589432 deg/s,
      cmd heading: 110.874267 deg,
      new cmd heading: 109.416315 deg.

2021-08-14T23:22:39.893Z,1628983359.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:22:40.286Z,1628983360.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:22:40.286Z,1628983360.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:22:40.286Z,1628983360.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:22:40.286Z,1628983360.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:22:40.697Z,1628983360.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34A,000,01EB1,188,80,80,9F,FF
2021-08-14T23:22:40.698Z,1628983360.698 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:22:40.698Z,1628983360.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:22:40.699Z,1628983360.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:22:41.101Z,1628983361.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:22:41.527Z,1628983361.527 [Micromodem](INFO): Nmea in: $SNTTA,0.289697,0.289979,,,232241.86*5B

2021-08-14T23:22:41.920Z,1628983361.920 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F1,000,01814,187,80,80,A0,FF
2021-08-14T23:22:41.922Z,1628983361.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:22:42.361Z,1628983362.361 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:22:42.398Z,1628983362.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 332.339996 m, bearing: 88.209865 deg, deltaT: 4.906168 s, approachRate: -20.704548 m/s, LOS rate: 0.708174 deg/s, posRepo size: 4
2021-08-14T23:22:42.404Z,1628983362.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 332.339996 m,
      bearing: 88.209865 deg,
      approachRate: -20.704548 m/s,
      LOS rate: 0.708174 deg/s,
      cmd update: 2.832697 deg/s,
      cmd heading: 88.375850 deg,
      new cmd heading: 86.560192 deg.

2021-08-14T23:22:44.365Z,1628983364.365 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T23:22:44.766Z,1628983364.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:22:45.134Z,1628983365.134 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:22:45.134Z,1628983365.134 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:22:45.134Z,1628983365.134 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:22:45.135Z,1628983365.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:22:45.537Z,1628983365.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F1,000,01814,187,80,80,A0,FF
2021-08-14T23:22:45.537Z,1628983365.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:22:45.537Z,1628983365.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:22:45.539Z,1628983365.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:22:45.968Z,1628983365.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:22:46.781Z,1628983366.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,01E57,183,80,80,9D,FF
2021-08-14T23:22:46.781Z,1628983366.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:22:46.784Z,1628983366.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232246.70*5A

2021-08-14T23:22:47.223Z,1628983367.223 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T23:22:47.249Z,1628983367.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 428.519989 m, bearing: 93.898155 deg, deltaT: 4.793924 s, approachRate: 20.062895 m/s, LOS rate: 1.186563 deg/s, posRepo size: 4
2021-08-14T23:22:47.251Z,1628983367.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 428.519989 m,
      bearing: 93.898155 deg,
      approachRate: 20.062895 m/s,
      LOS rate: 1.186563 deg/s,
      cmd update: 4.746250 deg/s,
      cmd heading: 101.966854 deg,
      new cmd heading: 103.236828 deg.

2021-08-14T23:22:49.610Z,1628983369.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:22:50.017Z,1628983370.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:22:50.017Z,1628983370.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:22:50.017Z,1628983370.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:22:50.018Z,1628983370.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:22:50.393Z,1628983370.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,01E57,183,80,80,9D,FF
2021-08-14T23:22:50.393Z,1628983370.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:22:50.393Z,1628983370.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:22:50.395Z,1628983370.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:22:50.797Z,1628983370.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:22:51.230Z,1628983371.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,064,000,00CFC,187,80,80,AA,FF
2021-08-14T23:22:51.231Z,1628983371.231 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:22:51.642Z,1628983371.642 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232251.56*58

2021-08-14T23:22:51.664Z,1628983371.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.940018 m, bearing: 94.680929 deg, deltaT: 4.457472 s, approachRate: -59.805191 m/s, LOS rate: 0.175609 deg/s, posRepo size: 4
2021-08-14T23:22:51.666Z,1628983371.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.940018 m,
      bearing: 94.680929 deg,
      approachRate: -59.805191 m/s,
      LOS rate: 0.175609 deg/s,
      cmd update: 0.702437 deg/s,
      cmd heading: 123.123241 deg,
      new cmd heading: 125.050038 deg.

2021-08-14T23:22:54.103Z,1628983374.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:22:54.425Z,1628983374.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:22:54.425Z,1628983374.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:22:54.425Z,1628983374.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:22:54.426Z,1628983374.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:22:54.829Z,1628983374.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
064,000,00CFC,187,80,80,AA,FF
2021-08-14T23:22:54.829Z,1628983374.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:22:54.829Z,1628983374.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:22:54.831Z,1628983374.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:22:55.245Z,1628983375.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:22:56.068Z,1628983376.068 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F2,000,01DF7,186,80,80,85,FF
2021-08-14T23:22:56.069Z,1628983376.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:22:56.071Z,1628983376.071 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232255.99*5F

2021-08-14T23:22:56.504Z,1628983376.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 422.760010 m, bearing: 89.984307 deg, deltaT: 4.849830 s, approachRate: 53.779205 m/s, LOS rate: -0.968410 deg/s, posRepo size: 4
2021-08-14T23:22:56.506Z,1628983376.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 422.760010 m,
      bearing: 89.984307 deg,
      approachRate: 53.779205 m/s,
      LOS rate: -0.968410 deg/s,
      cmd update: -3.873639 deg/s,
      cmd heading: 126.529929 deg,
      new cmd heading: 126.808440 deg.

2021-08-14T23:22:58.918Z,1628983378.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:22:59.274Z,1628983379.274 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:22:59.274Z,1628983379.274 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:22:59.274Z,1628983379.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:22:59.275Z,1628983379.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:22:59.689Z,1628983379.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F2,000,01DF7,186,80,80,85,FF
2021-08-14T23:22:59.689Z,1628983379.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:22:59.690Z,1628983379.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:22:59.691Z,1628983379.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:23:00.084Z,1628983380.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:23:00.917Z,1628983380.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34C,000,01DCB,189,80,80,89,FF
2021-08-14T23:23:00.917Z,1628983380.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:23:00.920Z,1628983380.920 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232300.85*53

2021-08-14T23:23:01.343Z,1628983381.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 420.119995 m, bearing: 82.741028 deg, deltaT: 4.827960 s, approachRate: -0.546818 m/s, LOS rate: -1.500277 deg/s, posRepo size: 4
2021-08-14T23:23:01.345Z,1628983381.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 420.119995 m,
      bearing: 82.741028 deg,
      approachRate: -0.546818 m/s,
      LOS rate: -1.500277 deg/s,
      cmd update: -6.001109 deg/s,
      cmd heading: 107.828264 deg,
      new cmd heading: 106.249248 deg.

2021-08-14T23:23:03.758Z,1628983383.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:23:04.125Z,1628983384.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:23:04.125Z,1628983384.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:23:04.125Z,1628983384.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:23:04.126Z,1628983384.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:23:04.542Z,1628983384.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34C,000,01DCB,189,80,80,89,FF
2021-08-14T23:23:04.542Z,1628983384.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:23:04.542Z,1628983384.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:23:04.544Z,1628983384.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:23:04.949Z,1628983384.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:23:05.757Z,1628983385.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,01DA0,186,80,80,97,FF
2021-08-14T23:23:05.757Z,1628983385.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:23:05.760Z,1628983385.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232305.70*5C

2021-08-14T23:23:06.251Z,1628983386.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 417.539978 m, bearing: 89.742115 deg, deltaT: 4.872491 s, approachRate: -0.529507 m/s, LOS rate: 1.436860 deg/s, posRepo size: 4
2021-08-14T23:23:06.257Z,1628983386.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 417.539978 m,
      bearing: 89.742115 deg,
      approachRate: -0.529507 m/s,
      LOS rate: 1.436860 deg/s,
      cmd update: 5.747440 deg/s,
      cmd heading: 78.612422 deg,
      new cmd heading: 75.931216 deg.

2021-08-14T23:23:08.613Z,1628983388.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:23:08.981Z,1628983388.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:23:08.981Z,1628983388.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:23:08.981Z,1628983388.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:23:08.982Z,1628983388.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:23:09.381Z,1628983389.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18D,000,01DA0,186,80,80,97,FF
2021-08-14T23:23:09.382Z,1628983389.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:23:09.382Z,1628983389.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:23:09.385Z,1628983389.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:23:09.791Z,1628983389.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:23:10.219Z,1628983390.219 [Micromodem](INFO): Nmea in: $SNTTA,0.221492,0.220417,,,232310.55*53

2021-08-14T23:23:10.598Z,1628983390.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,01D70,184,80,80,8B,FF
2021-08-14T23:23:10.598Z,1628983390.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:23:11.045Z,1628983391.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 414.660004 m, bearing: 94.150736 deg, deltaT: 4.807906 s, approachRate: -0.599008 m/s, LOS rate: 0.916952 deg/s, posRepo size: 4
2021-08-14T23:23:11.048Z,1628983391.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 414.660004 m,
      bearing: 94.150736 deg,
      approachRate: -0.599008 m/s,
      LOS rate: 0.916952 deg/s,
      cmd update: 3.667809 deg/s,
      cmd heading: 106.269188 deg,
      new cmd heading: 108.681941 deg.

2021-08-14T23:23:12.315Z,1628983392.315 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T23:23:13.488Z,1628983393.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:23:13.817Z,1628983393.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:23:13.817Z,1628983393.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:23:13.817Z,1628983393.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:23:13.818Z,1628983393.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:23:14.243Z,1628983394.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,01D70,184,80,80,8B,FF
2021-08-14T23:23:14.243Z,1628983394.243 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:23:14.243Z,1628983394.243 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:23:14.267Z,1628983394.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:23:14.628Z,1628983394.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:23:15.456Z,1628983395.456 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,01D43,186,80,80,A8,FF
2021-08-14T23:23:15.456Z,1628983395.456 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:23:15.473Z,1628983395.473 [Micromodem](INFO): Nmea in: $SNTTA,0.274382,,,,232315.43*4B

2021-08-14T23:23:15.884Z,1628983395.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 411.959991 m, bearing: 95.425304 deg, deltaT: 4.915830 s, approachRate: -0.549249 m/s, LOS rate: 0.259278 deg/s, posRepo size: 4
2021-08-14T23:23:15.887Z,1628983395.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 411.959991 m,
      bearing: 95.425304 deg,
      approachRate: -0.549249 m/s,
      LOS rate: 0.259278 deg/s,
      cmd update: 1.037113 deg/s,
      cmd heading: 124.269723 deg,
      new cmd heading: 125.586848 deg.

2021-08-14T23:23:18.368Z,1628983398.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:23:18.673Z,1628983398.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:23:18.673Z,1628983398.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:23:18.673Z,1628983398.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:23:18.674Z,1628983398.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:23:19.077Z,1628983399.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,01D43,186,80,80,A8,FF
2021-08-14T23:23:19.077Z,1628983399.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:23:19.077Z,1628983399.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:23:19.079Z,1628983399.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:23:19.476Z,1628983399.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:23:20.309Z,1628983400.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,01D14,186,80,80,58,FF
2021-08-14T23:23:20.309Z,1628983400.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:23:20.312Z,1628983400.312 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232320.24*5A

2021-08-14T23:23:20.787Z,1628983400.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 409.140015 m, bearing: 93.965125 deg, deltaT: 4.868275 s, approachRate: -0.579256 m/s, LOS rate: -0.299938 deg/s, posRepo size: 4
2021-08-14T23:23:20.790Z,1628983400.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 409.140015 m,
      bearing: 93.965125 deg,
      approachRate: -0.579256 m/s,
      LOS rate: -0.299938 deg/s,
      cmd update: -1.199750 deg/s,
      cmd heading: 129.322917 deg,
      new cmd heading: 129.727446 deg.

2021-08-14T23:23:23.139Z,1628983403.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:23:23.513Z,1628983403.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:23:23.513Z,1628983403.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:23:23.513Z,1628983403.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:23:23.514Z,1628983403.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:23:23.933Z,1628983403.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,01D14,186,80,80,58,FF
2021-08-14T23:23:23.933Z,1628983403.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:23:23.934Z,1628983403.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:23:23.940Z,1628983403.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:23:24.336Z,1628983404.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:23:25.164Z,1628983405.164 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D3,000,01CE9,189,80,80,7D,FF
2021-08-14T23:23:25.165Z,1628983405.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:23:25.192Z,1628983405.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232325.10*58

2021-08-14T23:23:25.579Z,1628983405.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 406.559998 m, bearing: 87.548914 deg, deltaT: 4.850641 s, approachRate: -0.531892 m/s, LOS rate: -1.322755 deg/s, posRepo size: 4
2021-08-14T23:23:25.582Z,1628983405.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 406.559998 m,
      bearing: 87.548914 deg,
      approachRate: -0.531892 m/s,
      LOS rate: -1.322755 deg/s,
      cmd update: -5.291021 deg/s,
      cmd heading: 123.503390 deg,
      new cmd heading: 123.103965 deg.

2021-08-14T23:23:28.042Z,1628983408.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:23:28.369Z,1628983408.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:23:28.369Z,1628983408.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:23:28.370Z,1628983408.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:23:28.371Z,1628983408.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:23:28.761Z,1628983408.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D3,000,01CE9,189,80,80,7D,FF
2021-08-14T23:23:28.761Z,1628983408.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:23:28.761Z,1628983408.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:23:28.763Z,1628983408.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:23:29.189Z,1628983409.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:23:30.017Z,1628983410.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,332,000,01CC9,188,80,80,68,FF
2021-08-14T23:23:30.017Z,1628983410.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:23:30.021Z,1628983410.021 [Micromodem](INFO): Nmea in: $SNTTA,0.490805,,,,232329.93*41

2021-08-14T23:23:30.422Z,1628983410.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 404.639984 m, bearing: 81.090813 deg, deltaT: 4.829222 s, approachRate: -0.397582 m/s, LOS rate: -1.337296 deg/s, posRepo size: 4
2021-08-14T23:23:30.440Z,1628983410.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 404.639984 m,
      bearing: 81.090813 deg,
      approachRate: -0.397582 m/s,
      LOS rate: -1.337296 deg/s,
      cmd update: -5.349186 deg/s,
      cmd heading: 97.930704 deg,
      new cmd heading: 96.119270 deg.

2021-08-14T23:23:32.834Z,1628983412.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:23:33.233Z,1628983413.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:23:33.233Z,1628983413.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:23:33.233Z,1628983413.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:23:33.234Z,1628983413.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:23:33.617Z,1628983413.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
332,000,01CC9,188,80,80,68,FF
2021-08-14T23:23:33.617Z,1628983413.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:23:33.617Z,1628983413.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:23:33.619Z,1628983413.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:23:34.033Z,1628983414.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:23:34.849Z,1628983414.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,102,000,01C9D,186,80,80,97,FF
2021-08-14T23:23:34.849Z,1628983414.849 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:23:34.852Z,1628983414.852 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232334.78*56

2021-08-14T23:23:35.293Z,1628983415.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 402.000000 m, bearing: 90.596954 deg, deltaT: 4.841306 s, approachRate: -0.545304 m/s, LOS rate: 1.963549 deg/s, posRepo size: 4
2021-08-14T23:23:35.300Z,1628983415.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 402.000000 m,
      bearing: 90.596954 deg,
      approachRate: -0.545304 m/s,
      LOS rate: 1.963549 deg/s,
      cmd update: 7.854196 deg/s,
      cmd heading: 72.077625 deg,
      new cmd heading: 70.072552 deg.

2021-08-14T23:23:37.684Z,1628983417.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:23:38.061Z,1628983418.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:23:38.061Z,1628983418.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:23:38.061Z,1628983418.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:23:38.062Z,1628983418.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:23:38.467Z,1628983418.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
102,000,01C9D,186,80,80,97,FF
2021-08-14T23:23:38.467Z,1628983418.467 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:23:38.468Z,1628983418.468 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:23:38.470Z,1628983418.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:23:38.876Z,1628983418.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:23:39.705Z,1628983419.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,01C6B,187,80,80,90,FF
2021-08-14T23:23:39.705Z,1628983419.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:23:39.709Z,1628983419.709 [Micromodem](INFO): Nmea in: $SNTTA,0.268126,,,,232339.63*46

2021-08-14T23:23:40.182Z,1628983420.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 399.000000 m, bearing: 93.539277 deg, deltaT: 4.835581 s, approachRate: -0.620401 m/s, LOS rate: 0.608473 deg/s, posRepo size: 4
2021-08-14T23:23:40.189Z,1628983420.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 399.000000 m,
      bearing: 93.539277 deg,
      approachRate: -0.620401 m/s,
      LOS rate: 0.608473 deg/s,
      cmd update: 2.433894 deg/s,
      cmd heading: 109.869235 deg,
      new cmd heading: 113.357818 deg.

2021-08-14T23:23:42.558Z,1628983422.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:23:42.909Z,1628983422.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:23:42.909Z,1628983422.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:23:42.909Z,1628983422.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:23:42.910Z,1628983422.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:23:43.321Z,1628983423.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,01C6B,187,80,80,90,FF
2021-08-14T23:23:43.322Z,1628983423.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:23:43.322Z,1628983423.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:23:43.323Z,1628983423.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:23:43.724Z,1628983423.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:23:44.545Z,1628983424.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,01C38,184,80,80,89,FF
2021-08-14T23:23:44.545Z,1628983424.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:23:44.548Z,1628983424.548 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232344.49*53

2021-08-14T23:23:44.971Z,1628983424.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 395.940002 m, bearing: 95.714036 deg, deltaT: 4.807088 s, approachRate: -0.636559 m/s, LOS rate: 0.452407 deg/s, posRepo size: 4
2021-08-14T23:23:44.974Z,1628983424.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 395.940002 m,
      bearing: 95.714036 deg,
      approachRate: -0.636559 m/s,
      LOS rate: 0.452407 deg/s,
      cmd update: 1.809627 deg/s,
      cmd heading: 121.647621 deg,
      new cmd heading: 122.639793 deg.

2021-08-14T23:23:47.382Z,1628983427.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:23:47.761Z,1628983427.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:23:47.762Z,1628983427.762 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:23:47.762Z,1628983427.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:23:47.763Z,1628983427.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:23:48.193Z,1628983428.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,01C38,184,80,80,89,FF
2021-08-14T23:23:48.193Z,1628983428.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:23:48.193Z,1628983428.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:23:48.195Z,1628983428.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:23:48.577Z,1628983428.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:23:49.397Z,1628983429.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,121,000,01C05,186,80,80,84,FF
2021-08-14T23:23:49.398Z,1628983429.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:23:49.401Z,1628983429.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232349.36*56

2021-08-14T23:23:49.824Z,1628983429.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 392.880005 m, bearing: 91.656077 deg, deltaT: 4.862462 s, approachRate: -0.629310 m/s, LOS rate: -0.834548 deg/s, posRepo size: 4
2021-08-14T23:23:49.826Z,1628983429.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 392.880005 m,
      bearing: 91.656077 deg,
      approachRate: -0.629310 m/s,
      LOS rate: -0.834548 deg/s,
      cmd update: -3.338193 deg/s,
      cmd heading: 130.446875 deg,
      new cmd heading: 131.137372 deg.

2021-08-14T23:23:52.336Z,1628983432.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:23:52.609Z,1628983432.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:23:52.609Z,1628983432.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:23:52.609Z,1628983432.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:23:52.610Z,1628983432.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:23:53.010Z,1628983433.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
121,000,01C05,186,80,80,84,FF
2021-08-14T23:23:53.010Z,1628983433.010 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:23:53.010Z,1628983433.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:23:53.012Z,1628983433.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:23:53.420Z,1628983433.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:23:54.257Z,1628983434.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D3,000,01BD7,189,80,80,81,FF
2021-08-14T23:23:54.257Z,1628983434.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:23:54.260Z,1628983434.260 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232354.18*56

2021-08-14T23:23:54.677Z,1628983434.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 390.119965 m, bearing: 86.649515 deg, deltaT: 4.925331 s, approachRate: -0.560377 m/s, LOS rate: -1.016493 deg/s, posRepo size: 4
2021-08-14T23:23:54.679Z,1628983434.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 390.119965 m,
      bearing: 86.649515 deg,
      approachRate: -0.560377 m/s,
      LOS rate: -1.016493 deg/s,
      cmd update: -4.065971 deg/s,
      cmd heading: 114.007070 deg,
      new cmd heading: 112.932346 deg.

2021-08-14T23:23:57.073Z,1628983437.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:23:57.457Z,1628983437.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:23:57.457Z,1628983437.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:23:57.457Z,1628983437.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:23:57.458Z,1628983437.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:23:57.865Z,1628983437.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D3,000,01BD7,189,80,80,81,FF
2021-08-14T23:23:57.865Z,1628983437.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:23:57.865Z,1628983437.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:23:57.867Z,1628983437.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:23:58.309Z,1628983438.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:23:59.113Z,1628983439.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,312,000,01BB4,189,80,80,52,FF
2021-08-14T23:23:59.113Z,1628983439.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:23:59.116Z,1628983439.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232359.03*51

2021-08-14T23:23:59.570Z,1628983439.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 388.019989 m, bearing: 82.671770 deg, deltaT: 4.857405 s, approachRate: -0.432325 m/s, LOS rate: -0.818903 deg/s, posRepo size: 4
2021-08-14T23:23:59.577Z,1628983439.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 388.019989 m,
      bearing: 82.671770 deg,
      approachRate: -0.432325 m/s,
      LOS rate: -0.818903 deg/s,
      cmd update: -3.275613 deg/s,
      cmd heading: 94.303381 deg,
      new cmd heading: 92.786509 deg.

2021-08-14T23:24:02.017Z,1628983442.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:24:02.349Z,1628983442.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:24:02.350Z,1628983442.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:24:02.350Z,1628983442.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:24:02.351Z,1628983442.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:24:02.741Z,1628983442.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
312,000,01BB4,189,80,80,52,FF
2021-08-14T23:24:02.741Z,1628983442.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:24:02.741Z,1628983442.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:24:02.743Z,1628983442.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:24:03.174Z,1628983443.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:24:04.014Z,1628983444.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,01B84,186,80,80,6B,FF
2021-08-14T23:24:04.014Z,1628983444.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:24:04.017Z,1628983444.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232403.90*53

2021-08-14T23:24:04.396Z,1628983444.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 385.140015 m, bearing: 90.847424 deg, deltaT: 4.843874 s, approachRate: -0.594560 m/s, LOS rate: 1.687834 deg/s, posRepo size: 4
2021-08-14T23:24:04.398Z,1628983444.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 385.140015 m,
      bearing: 90.847424 deg,
      approachRate: -0.594560 m/s,
      LOS rate: 1.687834 deg/s,
      cmd update: 6.751335 deg/s,
      cmd heading: 78.398326 deg,
      new cmd heading: 77.274924 deg.

2021-08-14T23:24:06.807Z,1628983446.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:24:07.225Z,1628983447.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:24:07.226Z,1628983447.226 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:24:07.229Z,1628983447.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:24:07.242Z,1628983447.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:24:07.601Z,1628983447.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,01B84,186,80,80,6B,FF
2021-08-14T23:24:07.601Z,1628983447.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:24:07.601Z,1628983447.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:24:07.603Z,1628983447.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:24:08.036Z,1628983448.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:24:08.837Z,1628983448.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB2,000,01B56,184,80,80,75,FF
2021-08-14T23:24:08.837Z,1628983448.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:24:08.840Z,1628983448.840 [Micromodem](INFO): Nmea in: $SNTTA,0.257066,,,,232408.76*4E

2021-08-14T23:24:09.282Z,1628983449.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 382.380005 m, bearing: 92.818296 deg, deltaT: 4.806631 s, approachRate: -0.574209 m/s, LOS rate: 0.410032 deg/s, posRepo size: 4
2021-08-14T23:24:09.285Z,1628983449.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 382.380005 m,
      bearing: 92.818296 deg,
      approachRate: -0.574209 m/s,
      LOS rate: 0.410032 deg/s,
      cmd update: 1.640127 deg/s,
      cmd heading: 110.851036 deg,
      new cmd heading: 113.692154 deg.

2021-08-14T23:24:11.643Z,1628983451.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:24:12.038Z,1628983452.038 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:24:12.038Z,1628983452.038 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:24:12.038Z,1628983452.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:24:12.039Z,1628983452.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:24:12.445Z,1628983452.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB2,000,01B56,184,80,80,75,FF
2021-08-14T23:24:12.445Z,1628983452.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:24:12.445Z,1628983452.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:24:12.447Z,1628983452.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:24:12.847Z,1628983452.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:24:13.682Z,1628983453.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,01B23,186,80,80,5A,FF
2021-08-14T23:24:13.682Z,1628983453.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:24:13.696Z,1628983453.696 [Micromodem](INFO): Nmea in: $SNTTA,0.252871,,,,232413.61*49

2021-08-14T23:24:14.128Z,1628983454.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 379.320007 m, bearing: 93.134629 deg, deltaT: 4.881559 s, approachRate: -0.626848 m/s, LOS rate: 0.064802 deg/s, posRepo size: 4
2021-08-14T23:24:14.137Z,1628983454.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 379.320007 m,
      bearing: 93.134629 deg,
      approachRate: -0.626848 m/s,
      LOS rate: 0.064802 deg/s,
      cmd update: 0.259207 deg/s,
      cmd heading: 118.837128 deg,
      new cmd heading: 119.485101 deg.

2021-08-14T23:24:16.529Z,1628983456.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:24:16.881Z,1628983456.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:24:16.881Z,1628983456.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:24:16.881Z,1628983456.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:24:16.882Z,1628983456.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:24:17.302Z,1628983457.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,01B23,186,80,80,5A,FF
2021-08-14T23:24:17.302Z,1628983457.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:24:17.302Z,1628983457.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:24:17.305Z,1628983457.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:24:17.710Z,1628983457.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:24:18.514Z,1628983458.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FE,000,01AF0,186,80,80,57,FF
2021-08-14T23:24:18.515Z,1628983458.515 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:24:18.521Z,1628983458.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232418.47*53

2021-08-14T23:24:18.943Z,1628983458.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 376.260010 m, bearing: 90.047827 deg, deltaT: 4.855912 s, approachRate: -0.630159 m/s, LOS rate: -0.635679 deg/s, posRepo size: 4
2021-08-14T23:24:18.946Z,1628983458.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 376.260010 m,
      bearing: 90.047827 deg,
      approachRate: -0.630159 m/s,
      LOS rate: -0.635679 deg/s,
      cmd update: -2.542716 deg/s,
      cmd heading: 120.098961 deg,
      new cmd heading: 120.188833 deg.

2021-08-14T23:24:21.391Z,1628983461.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:24:21.741Z,1628983461.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:24:21.741Z,1628983461.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:24:21.742Z,1628983461.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:24:21.742Z,1628983461.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:24:22.137Z,1628983462.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FE,000,01AF0,186,80,80,57,FF
2021-08-14T23:24:22.137Z,1628983462.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:24:22.137Z,1628983462.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:24:22.139Z,1628983462.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:24:22.544Z,1628983462.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:24:23.389Z,1628983463.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33F,000,01ACF,189,80,80,6D,FF
2021-08-14T23:24:23.390Z,1628983463.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:24:23.393Z,1628983463.393 [Micromodem](INFO): Nmea in: $SNTTA,0.254335,,,,232423.30*43

2021-08-14T23:24:23.796Z,1628983463.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 374.279999 m, bearing: 83.056528 deg, deltaT: 4.887664 s, approachRate: -0.405104 m/s, LOS rate: -1.430397 deg/s, posRepo size: 4
2021-08-14T23:24:23.798Z,1628983463.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 374.279999 m,
      bearing: 83.056528 deg,
      approachRate: -0.405104 m/s,
      LOS rate: -1.430397 deg/s,
      cmd update: -5.721588 deg/s,
      cmd heading: 107.701907 deg,
      new cmd heading: 106.879695 deg.

2021-08-14T23:24:26.245Z,1628983466.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:24:26.589Z,1628983466.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:24:26.589Z,1628983466.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:24:26.590Z,1628983466.590 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:24:26.591Z,1628983466.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:24:26.982Z,1628983466.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33F,000,01ACF,189,80,80,6D,FF
2021-08-14T23:24:26.982Z,1628983466.982 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:24:26.983Z,1628983466.983 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:24:27.029Z,1628983467.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:24:27.396Z,1628983467.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:24:28.221Z,1628983468.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,217,000,01AA4,187,80,80,5C,FF
2021-08-14T23:24:28.221Z,1628983468.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:24:28.225Z,1628983468.225 [Micromodem](INFO): Nmea in: $SNTTA,0.397387,0.397512,,,232428.19*51

2021-08-14T23:24:28.637Z,1628983468.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 371.699982 m, bearing: 85.723300 deg, deltaT: 4.870309 s, approachRate: -0.529744 m/s, LOS rate: 0.547557 deg/s, posRepo size: 4
2021-08-14T23:24:28.639Z,1628983468.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 371.699982 m,
      bearing: 85.723300 deg,
      approachRate: -0.529744 m/s,
      LOS rate: 0.547557 deg/s,
      cmd update: 2.190228 deg/s,
      cmd heading: 79.822749 deg,
      new cmd heading: 78.151107 deg.

2021-08-14T23:24:31.064Z,1628983471.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:24:31.425Z,1628983471.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:24:31.425Z,1628983471.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:24:31.425Z,1628983471.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:24:31.426Z,1628983471.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:24:31.857Z,1628983471.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
217,000,01AA4,187,80,80,5C,FF
2021-08-14T23:24:31.857Z,1628983471.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:24:31.857Z,1628983471.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:24:31.859Z,1628983471.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:24:32.260Z,1628983472.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:24:33.059Z,1628983473.059 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,01A78,184,80,80,9E,FF
2021-08-14T23:24:33.059Z,1628983473.059 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:24:33.081Z,1628983473.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232433.02*5B

2021-08-14T23:24:33.502Z,1628983473.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 369.059967 m, bearing: 89.159452 deg, deltaT: 4.742051 s, approachRate: -0.556724 m/s, LOS rate: 0.724613 deg/s, posRepo size: 4
2021-08-14T23:24:33.505Z,1628983473.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 369.059967 m,
      bearing: 89.159452 deg,
      approachRate: -0.556724 m/s,
      LOS rate: 0.724613 deg/s,
      cmd update: 2.898452 deg/s,
      cmd heading: 90.230248 deg,
      new cmd heading: 91.118585 deg.

2021-08-14T23:24:35.899Z,1628983475.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:24:36.282Z,1628983476.282 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:24:36.282Z,1628983476.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:24:36.282Z,1628983476.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:24:36.283Z,1628983476.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:24:36.350Z,1628983476.350 [CTD_Seabird](ERROR): Failed to parse device response: 6.03,24.223173
2021-08-14T23:24:36.689Z,1628983476.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,01A78,184,80,80,9E,FF
2021-08-14T23:24:36.690Z,1628983476.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:24:36.690Z,1628983476.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:24:36.691Z,1628983476.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:24:37.089Z,1628983477.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:24:37.920Z,1628983477.920 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232437.85*50

2021-08-14T23:24:38.740Z,1628983478.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:24:40.325Z,1628983480.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,184,80,80,9E,FF
2021-08-14T23:24:40.325Z,1628983480.325 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,184,80,80,9E,FF
2021-08-14T23:24:40.325Z,1628983480.325 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:24:41.565Z,1628983481.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:24:41.940Z,1628983481.940 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:24:41.940Z,1628983481.940 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:24:41.941Z,1628983481.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:24:41.942Z,1628983481.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:24:42.354Z,1628983482.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,184,80,80,9E,FF
2021-08-14T23:24:42.354Z,1628983482.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:24:42.354Z,1628983482.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:24:42.356Z,1628983482.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:24:42.749Z,1628983482.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:24:43.564Z,1628983483.564 [Micromodem](INFO): Nmea in: $SNTTA,0.244510,,,,232443.52*41

2021-08-14T23:24:44.354Z,1628983484.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A2,000,047
8,184,80,80,9E,FF
2021-08-14T23:24:44.355Z,1628983484.355 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,1A2,000,047
8,184,80,80,9E,FF
2021-08-14T23:24:44.438Z,1628983484.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:24:47.303Z,1628983487.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:24:48.028Z,1628983488.028 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.085711
2021-08-14T23:24:50.072Z,1628983490.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:24:50.421Z,1628983490.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:24:50.421Z,1628983490.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:24:50.421Z,1628983490.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:24:50.422Z,1628983490.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:24:50.457Z,1628983490.457 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T23:24:50.817Z,1628983490.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A2,000,047
8,184,80,80,9E,FF
2021-08-14T23:24:50.817Z,1628983490.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:24:50.818Z,1628983490.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:24:50.819Z,1628983490.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:24:51.257Z,1628983491.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:24:52.065Z,1628983492.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EC,000,019BA,189,80,80,70,FF
2021-08-14T23:24:52.066Z,1628983492.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:24:52.068Z,1628983492.068 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232451.98*5C

2021-08-14T23:24:52.518Z,1628983492.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 357.660004 m, bearing: 86.021752 deg, deltaT: 19.091966 s, approachRate: -0.597108 m/s, LOS rate: -0.164347 deg/s, posRepo size: 4
2021-08-14T23:24:52.527Z,1628983492.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 357.660004 m,
      bearing: 86.021752 deg,
      approachRate: -0.597108 m/s,
      LOS rate: -0.164347 deg/s,
      cmd update: -0.657386 deg/s,
      cmd heading: 145.539702 deg,
      new cmd heading: 146.523054 deg.

2021-08-14T23:24:54.911Z,1628983494.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:24:55.286Z,1628983495.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:24:55.286Z,1628983495.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:24:55.286Z,1628983495.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:24:55.287Z,1628983495.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:24:55.685Z,1628983495.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EC,000,019BA,189,80,80,70,FF
2021-08-14T23:24:55.685Z,1628983495.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:24:55.685Z,1628983495.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:24:55.687Z,1628983495.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:24:56.110Z,1628983496.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:24:56.925Z,1628983496.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,019A9,189,80,80,89,FF
2021-08-14T23:24:56.925Z,1628983496.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:24:56.928Z,1628983496.928 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232456.85*57

2021-08-14T23:24:57.398Z,1628983497.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 356.640015 m, bearing: 86.161300 deg, deltaT: 4.810167 s, approachRate: -0.212049 m/s, LOS rate: 0.029011 deg/s, posRepo size: 4
2021-08-14T23:24:57.421Z,1628983497.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 356.640015 m,
      bearing: 86.161300 deg,
      approachRate: -0.212049 m/s,
      LOS rate: 0.029011 deg/s,
      cmd update: 0.116044 deg/s,
      cmd heading: 142.381163 deg,
      new cmd heading: 142.108707 deg.

2021-08-14T23:24:59.809Z,1628983499.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:25:00.147Z,1628983500.147 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:25:00.148Z,1628983500.148 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:25:00.149Z,1628983500.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:25:00.150Z,1628983500.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:25:00.549Z,1628983500.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,019A9,189,80,80,89,FF
2021-08-14T23:25:00.549Z,1628983500.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:25:00.549Z,1628983500.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:25:00.551Z,1628983500.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:25:00.957Z,1628983500.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:25:01.784Z,1628983501.784 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01990,189,80,80,98,FF
2021-08-14T23:25:01.785Z,1628983501.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:25:01.788Z,1628983501.788 [Micromodem](INFO): Nmea in: $SNTTA,0.236399,,,,232501.71*45

2021-08-14T23:25:02.231Z,1628983502.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 355.139984 m, bearing: 85.507084 deg, deltaT: 4.804228 s, approachRate: -0.312231 m/s, LOS rate: -0.136175 deg/s, posRepo size: 4
2021-08-14T23:25:02.233Z,1628983502.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 355.139984 m,
      bearing: 85.507084 deg,
      approachRate: -0.312231 m/s,
      LOS rate: -0.136175 deg/s,
      cmd update: -0.544700 deg/s,
      cmd heading: 142.940448 deg,
      new cmd heading: 142.990047 deg.

2021-08-14T23:25:04.318Z,1628983504.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:25:04.589Z,1628983504.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:25:04.589Z,1628983504.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:25:04.589Z,1628983504.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:25:04.590Z,1628983504.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:25:04.997Z,1628983504.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01990,189,80,80,98,FF
2021-08-14T23:25:04.997Z,1628983504.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:25:04.997Z,1628983504.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:25:04.999Z,1628983504.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:25:05.402Z,1628983505.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:25:06.233Z,1628983506.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01976,189,80,80,7D,FF
2021-08-14T23:25:06.233Z,1628983506.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:25:06.236Z,1628983506.236 [Micromodem](INFO): Nmea in: $SNTTA,0.371116,0.371147,,,232506.17*5C

2021-08-14T23:25:06.656Z,1628983506.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 353.580017 m, bearing: 84.680993 deg, deltaT: 4.521911 s, approachRate: -0.344980 m/s, LOS rate: -0.182686 deg/s, posRepo size: 4
2021-08-14T23:25:06.658Z,1628983506.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.580017 m,
      bearing: 84.680993 deg,
      approachRate: -0.344980 m/s,
      LOS rate: -0.182686 deg/s,
      cmd update: -0.730745 deg/s,
      cmd heading: 140.484080 deg,
      new cmd heading: 140.297292 deg.

2021-08-14T23:25:09.076Z,1628983509.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:25:09.429Z,1628983509.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:25:09.429Z,1628983509.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:25:09.429Z,1628983509.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:25:09.430Z,1628983509.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:25:09.845Z,1628983509.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01976,189,80,80,7D,FF
2021-08-14T23:25:09.845Z,1628983509.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:25:09.846Z,1628983509.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:25:09.847Z,1628983509.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:25:10.249Z,1628983510.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:25:11.065Z,1628983511.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0195E,189,80,80,79,FF
2021-08-14T23:25:11.065Z,1628983511.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:25:11.068Z,1628983511.068 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232511.01*59

2021-08-14T23:25:11.515Z,1628983511.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 352.139984 m, bearing: 83.601338 deg, deltaT: 4.800525 s, approachRate: -0.299974 m/s, LOS rate: -0.224903 deg/s, posRepo size: 4
2021-08-14T23:25:11.521Z,1628983511.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.139984 m,
      bearing: 83.601338 deg,
      approachRate: -0.299974 m/s,
      LOS rate: -0.224903 deg/s,
      cmd update: -0.899614 deg/s,
      cmd heading: 136.973845 deg,
      new cmd heading: 136.683000 deg.

2021-08-14T23:25:13.906Z,1628983513.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:25:14.290Z,1628983514.290 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:25:14.291Z,1628983514.291 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:25:14.291Z,1628983514.291 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:25:14.292Z,1628983514.292 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:25:14.682Z,1628983514.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0195E,189,80,80,79,FF
2021-08-14T23:25:14.683Z,1628983514.683 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:25:14.683Z,1628983514.683 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:25:14.685Z,1628983514.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:25:15.088Z,1628983515.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:25:15.494Z,1628983515.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006A5,189,80,80,77,FF
2021-08-14T23:25:15.494Z,1628983515.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:25:15.956Z,1628983515.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232515.85*51

2021-08-14T23:25:16.020Z,1628983516.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.559998 m, bearing: 80.483794 deg, deltaT: 4.461875 s, approachRate: -64.452721 m/s, LOS rate: -0.698707 deg/s, posRepo size: 4
2021-08-14T23:25:16.022Z,1628983516.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.559998 m,
      bearing: 80.483794 deg,
      approachRate: -64.452721 m/s,
      LOS rate: -0.698707 deg/s,
      cmd update: -2.794829 deg/s,
      cmd heading: 132.955211 deg,
      new cmd heading: 132.562945 deg.

2021-08-14T23:25:16.338Z,1628983516.338 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:25:18.396Z,1628983518.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:25:18.734Z,1628983518.734 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:25:18.734Z,1628983518.734 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:25:18.734Z,1628983518.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:25:18.735Z,1628983518.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:25:19.129Z,1628983519.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006A5,189,80,80,77,FF
2021-08-14T23:25:19.129Z,1628983519.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:25:19.130Z,1628983519.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:25:19.132Z,1628983519.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:25:19.534Z,1628983519.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:25:20.366Z,1628983520.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01925,189,80,80,53,FF
2021-08-14T23:25:20.366Z,1628983520.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:25:20.372Z,1628983520.372 [Micromodem](INFO): Nmea in: $SNTTA,0.234842,,,,232520.30*4C

2021-08-14T23:25:20.778Z,1628983520.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 348.719971 m, bearing: 73.766835 deg, deltaT: 4.897869 s, approachRate: 58.017063 m/s, LOS rate: -1.371404 deg/s, posRepo size: 4
2021-08-14T23:25:20.780Z,1628983520.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.719971 m,
      bearing: 73.766835 deg,
      approachRate: 58.017063 m/s,
      LOS rate: -1.371404 deg/s,
      cmd update: -5.485617 deg/s,
      cmd heading: 119.279773 deg,
      new cmd heading: 118.439088 deg.

2021-08-14T23:25:23.227Z,1628983523.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:25:23.581Z,1628983523.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:25:23.581Z,1628983523.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:25:23.581Z,1628983523.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:25:23.582Z,1628983523.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:25:24.025Z,1628983524.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01925,189,80,80,53,FF
2021-08-14T23:25:24.025Z,1628983524.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:25:24.025Z,1628983524.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:25:24.027Z,1628983524.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:25:24.408Z,1628983524.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:25:25.242Z,1628983525.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,325,000,018FE,189,80,80,6A,FF
2021-08-14T23:25:25.242Z,1628983525.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:25:25.247Z,1628983525.247 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232525.19*57

2021-08-14T23:25:25.656Z,1628983525.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 346.379974 m, bearing: 83.883261 deg, deltaT: 4.871784 s, approachRate: -0.480316 m/s, LOS rate: 2.076534 deg/s, posRepo size: 4
2021-08-14T23:25:25.658Z,1628983525.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 346.379974 m,
      bearing: 83.883261 deg,
      approachRate: -0.480316 m/s,
      LOS rate: 2.076534 deg/s,
      cmd update: 8.306136 deg/s,
      cmd heading: 92.554171 deg,
      new cmd heading: 90.871173 deg.

2021-08-14T23:25:28.087Z,1628983528.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:25:28.441Z,1628983528.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:25:28.441Z,1628983528.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:25:28.442Z,1628983528.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:25:28.443Z,1628983528.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:25:28.841Z,1628983528.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
325,000,018FE,189,80,80,6A,FF
2021-08-14T23:25:28.841Z,1628983528.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:25:28.841Z,1628983528.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:25:28.843Z,1628983528.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:25:29.257Z,1628983529.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:25:30.077Z,1628983530.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16C,000,018D6,186,80,80,5B,FF
2021-08-14T23:25:30.077Z,1628983530.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:25:30.105Z,1628983530.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232530.01*5A

2021-08-14T23:25:30.495Z,1628983530.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 343.979980 m, bearing: 87.313928 deg, deltaT: 4.855379 s, approachRate: -0.494296 m/s, LOS rate: 0.706570 deg/s, posRepo size: 4
2021-08-14T23:25:30.518Z,1628983530.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 343.979980 m,
      bearing: 87.313928 deg,
      approachRate: -0.494296 m/s,
      LOS rate: 0.706570 deg/s,
      cmd update: 2.826282 deg/s,
      cmd heading: 132.951653 deg,
      new cmd heading: 135.303410 deg.

2021-08-14T23:25:32.906Z,1628983532.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:25:33.294Z,1628983533.294 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:25:33.295Z,1628983533.295 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:25:33.295Z,1628983533.295 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:25:33.296Z,1628983533.296 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:25:33.689Z,1628983533.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16C,000,018D6,186,80,80,5B,FF
2021-08-14T23:25:33.689Z,1628983533.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:25:33.689Z,1628983533.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:25:33.691Z,1628983533.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:25:34.101Z,1628983534.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:25:34.901Z,1628983534.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,018AD,185,80,80,54,FF
2021-08-14T23:25:34.901Z,1628983534.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:25:35.354Z,1628983535.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 341.519989 m, bearing: 88.264547 deg, deltaT: 4.708289 s, approachRate: -0.522481 m/s, LOS rate: 0.201903 deg/s, posRepo size: 4
2021-08-14T23:25:35.356Z,1628983535.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 341.519989 m,
      bearing: 88.264547 deg,
      approachRate: -0.522481 m/s,
      LOS rate: 0.201903 deg/s,
      cmd update: 0.807613 deg/s,
      cmd heading: 146.251782 deg,
      new cmd heading: 147.482783 deg.

2021-08-14T23:25:37.755Z,1628983537.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:25:38.133Z,1628983538.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:25:38.133Z,1628983538.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:25:38.133Z,1628983538.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:25:38.134Z,1628983538.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:25:38.549Z,1628983538.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AC,000,018AD,185,80,80,54,FF
2021-08-14T23:25:38.549Z,1628983538.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:25:38.549Z,1628983538.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:25:38.551Z,1628983538.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:25:38.945Z,1628983538.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:25:39.777Z,1628983539.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,375,000,0187A,189,80,80,43,FF
2021-08-14T23:25:39.777Z,1628983539.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:25:39.780Z,1628983539.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232539.72*57

2021-08-14T23:25:40.243Z,1628983540.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 338.459991 m, bearing: 83.660795 deg, deltaT: 4.894854 s, approachRate: -0.625146 m/s, LOS rate: -0.940529 deg/s, posRepo size: 4
2021-08-14T23:25:40.245Z,1628983540.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 338.459991 m,
      bearing: 83.660795 deg,
      approachRate: -0.625146 m/s,
      LOS rate: -0.940529 deg/s,
      cmd update: -3.762116 deg/s,
      cmd heading: 150.207169 deg,
      new cmd heading: 150.552073 deg.

2021-08-14T23:25:42.624Z,1628983542.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:25:42.987Z,1628983542.987 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:25:42.987Z,1628983542.987 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:25:42.987Z,1628983542.987 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:25:42.988Z,1628983542.988 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:25:43.393Z,1628983543.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
375,000,0187A,189,80,80,43,FF
2021-08-14T23:25:43.393Z,1628983543.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:25:43.393Z,1628983543.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:25:43.395Z,1628983543.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:25:43.792Z,1628983543.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:25:44.621Z,1628983544.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01865,189,80,80,7B,FF
2021-08-14T23:25:44.621Z,1628983544.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:25:44.629Z,1628983544.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232544.56*5B

2021-08-14T23:25:45.045Z,1628983545.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 337.199982 m, bearing: 80.081229 deg, deltaT: 4.852767 s, approachRate: -0.259648 m/s, LOS rate: -0.737634 deg/s, posRepo size: 4
2021-08-14T23:25:45.046Z,1628983545.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.199982 m,
      bearing: 80.081229 deg,
      approachRate: -0.259648 m/s,
      LOS rate: -0.737634 deg/s,
      cmd update: -2.950536 deg/s,
      cmd heading: 132.041434 deg,
      new cmd heading: 130.537634 deg.

2021-08-14T23:25:47.458Z,1628983547.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:25:47.825Z,1628983547.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:25:47.825Z,1628983547.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:25:47.825Z,1628983547.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:25:47.826Z,1628983547.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:25:48.233Z,1628983548.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01865,189,80,80,7B,FF
2021-08-14T23:25:48.233Z,1628983548.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:25:48.233Z,1628983548.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:25:48.235Z,1628983548.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:25:48.711Z,1628983548.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:25:49.505Z,1628983549.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0184C,189,80,80,55,FF
2021-08-14T23:25:49.505Z,1628983549.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:25:49.508Z,1628983549.508 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232549.40*51

2021-08-14T23:25:49.996Z,1628983549.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 335.699982 m, bearing: 75.709416 deg, deltaT: 4.912265 s, approachRate: -0.305358 m/s, LOS rate: -0.889979 deg/s, posRepo size: 4
2021-08-14T23:25:49.998Z,1628983549.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 335.699982 m,
      bearing: 75.709416 deg,
      approachRate: -0.305358 m/s,
      LOS rate: -0.889979 deg/s,
      cmd update: -3.559916 deg/s,
      cmd heading: 117.513637 deg,
      new cmd heading: 116.262592 deg.

2021-08-14T23:25:52.409Z,1628983552.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:25:52.741Z,1628983552.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:25:52.741Z,1628983552.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:25:52.742Z,1628983552.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:25:52.743Z,1628983552.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:25:53.141Z,1628983553.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0184C,189,80,80,55,FF
2021-08-14T23:25:53.141Z,1628983553.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:25:53.141Z,1628983553.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:25:53.162Z,1628983553.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:25:53.548Z,1628983553.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:25:54.367Z,1628983554.367 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30F,000,01837,18A,80,80,64,FF
2021-08-14T23:25:54.367Z,1628983554.367 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:25:54.385Z,1628983554.385 [Micromodem](INFO): Nmea in: $SNTTA,0.330974,,,,232554.33*4D

2021-08-14T23:25:54.809Z,1628983554.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 334.440002 m, bearing: 83.199026 deg, deltaT: 4.832599 s, approachRate: -0.260725 m/s, LOS rate: 1.549810 deg/s, posRepo size: 4
2021-08-14T23:25:54.810Z,1628983554.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 334.440002 m,
      bearing: 83.199026 deg,
      approachRate: -0.260725 m/s,
      LOS rate: 1.549810 deg/s,
      cmd update: 6.199240 deg/s,
      cmd heading: 100.264743 deg,
      new cmd heading: 98.872709 deg.

2021-08-14T23:25:57.227Z,1628983557.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:25:57.593Z,1628983557.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:25:57.593Z,1628983557.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:25:57.593Z,1628983557.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:25:57.594Z,1628983557.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:25:58.017Z,1628983558.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30F,000,01837,18A,80,80,64,FF
2021-08-14T23:25:58.017Z,1628983558.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:25:58.017Z,1628983558.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:25:58.019Z,1628983558.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:25:58.400Z,1628983558.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:25:59.234Z,1628983559.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232559.18*5D

2021-08-14T23:26:00.073Z,1628983560.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:01.625Z,1628983561.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,18A,80,80,64,FF
2021-08-14T23:26:01.625Z,1628983561.625 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,18A,80,80,64,FF
2021-08-14T23:26:01.625Z,1628983561.625 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:26:02.855Z,1628983562.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:03.241Z,1628983563.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:26:03.241Z,1628983563.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:26:03.241Z,1628983563.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:26:03.242Z,1628983563.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:26:03.650Z,1628983563.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,18A,80,80,64,FF
2021-08-14T23:26:03.650Z,1628983563.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:26:03.650Z,1628983563.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:26:03.652Z,1628983563.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:26:04.052Z,1628983564.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:26:04.873Z,1628983564.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BB,000,017CD,189,80,80,69,FF
2021-08-14T23:26:04.874Z,1628983564.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:26:04.876Z,1628983564.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232604.82*55

2021-08-14T23:26:05.321Z,1628983565.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 328.079987 m, bearing: 77.378148 deg, deltaT: 10.483677 s, approachRate: -0.606659 m/s, LOS rate: -0.555233 deg/s, posRepo size: 4
2021-08-14T23:26:05.323Z,1628983565.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 328.079987 m,
      bearing: 77.378148 deg,
      approachRate: -0.606659 m/s,
      LOS rate: -0.555233 deg/s,
      cmd update: -2.220930 deg/s,
      cmd heading: 165.252849 deg,
      new cmd heading: 167.880446 deg.

2021-08-14T23:26:07.734Z,1628983567.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:08.089Z,1628983568.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:26:08.089Z,1628983568.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:26:08.089Z,1628983568.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:26:08.090Z,1628983568.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:26:08.493Z,1628983568.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BB,000,017CD,189,80,80,69,FF
2021-08-14T23:26:08.493Z,1628983568.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:26:08.493Z,1628983568.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:26:08.495Z,1628983568.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:26:08.901Z,1628983568.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:26:09.734Z,1628983569.734 [Micromodem](INFO): Nmea in: $SNTTA,0.219719,,,,232609.66*49

2021-08-14T23:26:10.557Z,1628983570.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:12.133Z,1628983572.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,69,FF
2021-08-14T23:26:12.133Z,1628983572.133 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,69,FF
2021-08-14T23:26:12.133Z,1628983572.133 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:26:13.383Z,1628983573.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:13.745Z,1628983573.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:26:13.745Z,1628983573.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:26:13.745Z,1628983573.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:26:13.746Z,1628983573.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:26:14.164Z,1628983574.164 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,69,FF
2021-08-14T23:26:14.165Z,1628983574.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:26:14.165Z,1628983574.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:26:14.171Z,1628983574.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:26:14.556Z,1628983574.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:26:15.376Z,1628983575.376 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232615.34*58

2021-08-14T23:26:15.907Z,1628983575.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:17.801Z,1628983577.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,69,FF
2021-08-14T23:26:17.801Z,1628983577.801 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,69,FF
2021-08-14T23:26:17.801Z,1628983577.801 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:26:18.615Z,1628983578.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:19.010Z,1628983579.010 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:26:19.010Z,1628983579.010 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:26:19.010Z,1628983579.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:26:19.011Z,1628983579.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:26:19.401Z,1628983579.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,69,FF
2021-08-14T23:26:19.401Z,1628983579.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:26:19.401Z,1628983579.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:26:19.403Z,1628983579.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:26:19.837Z,1628983579.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:26:20.233Z,1628983580.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00590,189,80,80,60,FF
2021-08-14T23:26:20.233Z,1628983580.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:26:20.649Z,1628983580.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232620.57*5B

2021-08-14T23:26:20.699Z,1628983580.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.940006 m, bearing: 71.467445 deg, deltaT: 15.446491 s, approachRate: -18.136156 m/s, LOS rate: -0.382657 deg/s, posRepo size: 4
2021-08-14T23:26:20.705Z,1628983580.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.940006 m,
      bearing: 71.467445 deg,
      approachRate: -18.136156 m/s,
      LOS rate: -0.382657 deg/s,
      cmd update: -1.530627 deg/s,
      cmd heading: 130.962720 deg,
      new cmd heading: 130.157340 deg.

2021-08-14T23:26:23.070Z,1628983583.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:23.437Z,1628983583.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:26:23.437Z,1628983583.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:26:23.437Z,1628983583.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:26:23.438Z,1628983583.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:26:23.874Z,1628983583.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00590,189,80,80,60,FF
2021-08-14T23:26:23.874Z,1628983583.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:26:23.874Z,1628983583.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:26:23.877Z,1628983583.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:26:24.257Z,1628983584.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:26:25.054Z,1628983585.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CD,000,0175D,189,80,80,9B,FF
2021-08-14T23:26:25.055Z,1628983585.055 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:26:25.062Z,1628983585.062 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232625.04*58

2021-08-14T23:26:25.521Z,1628983585.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 321.359985 m, bearing: 76.485640 deg, deltaT: 4.767202 s, approachRate: 57.354393 m/s, LOS rate: 1.052650 deg/s, posRepo size: 4
2021-08-14T23:26:25.523Z,1628983585.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 321.359985 m,
      bearing: 76.485640 deg,
      approachRate: 57.354393 m/s,
      LOS rate: 1.052650 deg/s,
      cmd update: 4.210599 deg/s,
      cmd heading: 123.660946 deg,
      new cmd heading: 123.027304 deg.

2021-08-14T23:26:27.984Z,1628983587.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:28.286Z,1628983588.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:26:28.286Z,1628983588.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:26:28.286Z,1628983588.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:26:28.287Z,1628983588.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:26:28.695Z,1628983588.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CD,000,0175D,189,80,80,9B,FF
2021-08-14T23:26:28.695Z,1628983588.695 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:26:28.696Z,1628983588.696 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:26:28.700Z,1628983588.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:26:29.107Z,1628983589.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:26:29.962Z,1628983589.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232629.86*5E

2021-08-14T23:26:30.735Z,1628983590.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:32.341Z,1628983592.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,9B,FF
2021-08-14T23:26:32.343Z,1628983592.343 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,9B,FF
2021-08-14T23:26:32.345Z,1628983592.345 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:26:33.601Z,1628983593.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:33.964Z,1628983593.964 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:26:33.964Z,1628983593.964 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:26:33.965Z,1628983593.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:26:33.966Z,1628983593.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:26:34.358Z,1628983594.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,9B,FF
2021-08-14T23:26:34.358Z,1628983594.358 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:26:34.358Z,1628983594.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:26:34.360Z,1628983594.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:26:34.760Z,1628983594.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:26:35.582Z,1628983595.582 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232635.52*5A

2021-08-14T23:26:36.421Z,1628983596.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:38.021Z,1628983598.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,9B,FF
2021-08-14T23:26:38.021Z,1628983598.021 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,9B,FF
2021-08-14T23:26:38.022Z,1628983598.022 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:26:39.258Z,1628983599.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:39.609Z,1628983599.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:26:39.609Z,1628983599.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:26:39.609Z,1628983599.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:26:39.610Z,1628983599.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:26:40.021Z,1628983600.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,9B,FF
2021-08-14T23:26:40.021Z,1628983600.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:26:40.022Z,1628983600.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:26:40.023Z,1628983600.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:26:40.455Z,1628983600.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:26:41.261Z,1628983601.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D81,000,016FC,188,80,80,77,FF
2021-08-14T23:26:41.262Z,1628983601.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:26:41.265Z,1628983601.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232641.19*56

2021-08-14T23:26:41.698Z,1628983601.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 315.539978 m, bearing: 191.919245 deg, deltaT: 16.233483 s, approachRate: -0.358519 m/s, LOS rate: 7.110834 deg/s, posRepo size: 4
2021-08-14T23:26:41.700Z,1628983601.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 315.539978 m,
      bearing: 191.919245 deg,
      approachRate: -0.358519 m/s,
      LOS rate: 7.110834 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 192.027843 deg,
      new cmd heading: 193.520075 deg.

2021-08-14T23:26:44.131Z,1628983604.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:44.489Z,1628983604.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:26:44.489Z,1628983604.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:26:44.489Z,1628983604.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:26:44.490Z,1628983604.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:26:44.889Z,1628983604.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D81,000,016FC,188,80,80,77,FF
2021-08-14T23:26:44.890Z,1628983604.890 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:26:44.890Z,1628983604.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:26:44.892Z,1628983604.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:26:45.299Z,1628983605.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:26:46.121Z,1628983606.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,016FA,18A,80,80,6A,FF
2021-08-14T23:26:46.122Z,1628983606.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:26:46.127Z,1628983606.127 [Micromodem](INFO): Nmea in: $SNTTA,0.214706,,,,232646.06*47

2021-08-14T23:26:46.540Z,1628983606.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 315.420013 m, bearing: 117.116612 deg, deltaT: 4.909840 s, approachRate: -0.024434 m/s, LOS rate: -15.235249 deg/s, posRepo size: 4
2021-08-14T23:26:46.541Z,1628983606.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.235249 deg/s. Setting heading cmd to target bearing of 117.116612deg and heading rate command to 0 deg/s.
2021-08-14T23:26:48.954Z,1628983608.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:49.333Z,1628983609.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:26:49.333Z,1628983609.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:26:49.333Z,1628983609.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:26:49.334Z,1628983609.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:26:49.733Z,1628983609.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,016FA,18A,80,80,6A,FF
2021-08-14T23:26:49.734Z,1628983609.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:26:49.734Z,1628983609.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:26:49.736Z,1628983609.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:26:50.137Z,1628983610.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:26:51.749Z,1628983611.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E6,000,03D93,188,80,80,88,FF
2021-08-14T23:26:51.749Z,1628983611.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:26:52.232Z,1628983612.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 908.280029 m, bearing: 167.981372 deg, deltaT: 5.536014 s, approachRate: 107.091492 m/s, LOS rate: 9.187976 deg/s, posRepo size: 4
2021-08-14T23:26:52.234Z,1628983612.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 908.280029 m,
      bearing: 167.981372 deg,
      approachRate: 107.091492 m/s,
      LOS rate: 9.187976 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 117.116612 deg,
      new cmd heading: 117.116612 deg.

2021-08-14T23:26:54.604Z,1628983614.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:54.981Z,1628983614.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:26:54.982Z,1628983614.982 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:26:54.982Z,1628983614.982 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:26:54.983Z,1628983614.983 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:26:55.397Z,1628983615.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E6,000,03D93,188,80,80,88,FF
2021-08-14T23:26:55.397Z,1628983615.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:26:55.397Z,1628983615.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:26:55.399Z,1628983615.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:26:55.801Z,1628983615.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:26:56.617Z,1628983616.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23E,000,01735,189,80,80,85,FF
2021-08-14T23:26:56.617Z,1628983616.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:26:56.620Z,1628983616.620 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232656.56*5B

2021-08-14T23:26:57.032Z,1628983617.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 318.959991 m, bearing: 185.629119 deg, deltaT: 4.885767 s, approachRate: -120.619766 m/s, LOS rate: 3.612073 deg/s, posRepo size: 4
2021-08-14T23:26:57.034Z,1628983617.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 318.959991 m,
      bearing: 185.629119 deg,
      approachRate: -120.619766 m/s,
      LOS rate: 3.612073 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 175.985325 deg,
      new cmd heading: 180.300237 deg.

2021-08-14T23:26:59.482Z,1628983619.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:26:59.833Z,1628983619.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:26:59.834Z,1628983619.834 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:26:59.834Z,1628983619.834 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:26:59.835Z,1628983619.835 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:27:00.233Z,1628983620.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23E,000,01735,189,80,80,85,FF
2021-08-14T23:27:00.233Z,1628983620.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:27:00.233Z,1628983620.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:27:00.235Z,1628983620.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:27:00.644Z,1628983620.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:27:01.469Z,1628983621.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18F,000,01755,185,80,80,70,FF
2021-08-14T23:27:01.469Z,1628983621.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:27:01.472Z,1628983621.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232701.40*5F

2021-08-14T23:27:01.884Z,1628983621.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 320.880005 m, bearing: 177.146051 deg, deltaT: 4.878223 s, approachRate: 0.393589 m/s, LOS rate: -1.738967 deg/s, posRepo size: 4
2021-08-14T23:27:01.886Z,1628983621.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 320.880005 m,
      bearing: 177.146051 deg,
      approachRate: 0.393589 m/s,
      LOS rate: -1.738967 deg/s,
      cmd update: -6.955867 deg/s,
      cmd heading: 234.522790 deg,
      new cmd heading: 238.526266 deg.

2021-08-14T23:27:04.336Z,1628983624.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:27:04.677Z,1628983624.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:27:04.677Z,1628983624.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:27:04.677Z,1628983624.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:27:04.678Z,1628983624.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:27:05.090Z,1628983625.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18F,000,01755,185,80,80,70,FF
2021-08-14T23:27:05.090Z,1628983625.090 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:27:05.090Z,1628983625.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:27:05.092Z,1628983625.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:27:05.497Z,1628983625.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:27:06.290Z,1628983626.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01385,189,80,80,56,FF
2021-08-14T23:27:06.291Z,1628983626.291 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:27:06.323Z,1628983626.323 [Micromodem](INFO): Nmea in: $SNTTA,0.176692,0.325554,,,232706.26*55

2021-08-14T23:27:06.736Z,1628983626.736 [lineCaptureDepth](INFO): Timed out from 2021-08-14T22:27:06.6Z
2021-08-14T23:27:06.737Z,1628983626.737 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-14T23:27:06.737Z,1628983626.737 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-14T23:27:06.737Z,1628983626.737 [lineCaptureDepth] Stopped
2021-08-14T23:27:06.737Z,1628983626.737 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-14T23:27:06.737Z,1628983626.737 [lineCaptureDepth:Science] Stopped
2021-08-14T23:27:06.737Z,1628983626.737 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-14T23:27:06.737Z,1628983626.737 [lineCaptureDepth:Science:B] Stopped
2021-08-14T23:27:06.737Z,1628983626.737 [lineCaptureDepth:Science:C] Stopped
2021-08-14T23:27:06.737Z,1628983626.737 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-14T23:27:06.737Z,1628983626.737 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-14T23:27:06.738Z,1628983626.738 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-14T23:27:06.738Z,1628983626.738 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-14T23:27:06.738Z,1628983626.738 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-14T23:27:06.738Z,1628983626.738 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-14T23:27:06.738Z,1628983626.738 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T23:27:06.738Z,1628983626.738 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T23:27:06.738Z,1628983626.738 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T23:27:06.738Z,1628983626.738 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T23:27:06.738Z,1628983626.738 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T23:27:06.738Z,1628983626.738 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T23:27:06.739Z,1628983626.739 [lineCaptureDepth:TrackAC.] Stopped
2021-08-14T23:27:06.739Z,1628983626.739 [lineCaptureDepth:LineCapture] Stopped
2021-08-14T23:27:06.739Z,1628983626.739 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-14T23:27:06.739Z,1628983626.739 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-14T23:27:06.739Z,1628983626.739 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T23:27:06.739Z,1628983626.739 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T23:27:06.739Z,1628983626.739 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T23:27:06.739Z,1628983626.739 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T23:27:06.739Z,1628983626.739 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T23:27:06.739Z,1628983626.739 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T23:27:06.739Z,1628983626.739 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T23:27:06.740Z,1628983626.740 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-14T23:27:06.740Z,1628983626.740 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-14T23:27:06.740Z,1628983626.740 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T23:27:06.740Z,1628983626.740 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T23:27:06.740Z,1628983626.740 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T23:27:06.740Z,1628983626.740 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T23:27:06.740Z,1628983626.740 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T23:27:06.740Z,1628983626.740 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T23:27:06.741Z,1628983626.741 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T23:27:06.741Z,1628983626.741 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-14T23:27:06.741Z,1628983626.741 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T23:27:06.741Z,1628983626.741 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-14T23:27:06.741Z,1628983626.741 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T23:27:06.741Z,1628983626.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T23:27:06.741Z,1628983626.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T23:27:06.741Z,1628983626.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T23:27:06.741Z,1628983626.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T23:27:06.742Z,1628983626.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T23:27:06.742Z,1628983626.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T23:27:06.742Z,1628983626.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T23:27:06.742Z,1628983626.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-14T23:27:06.742Z,1628983626.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T23:27:06.742Z,1628983626.742 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T23:27:06.742Z,1628983626.742 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T23:27:06.742Z,1628983626.742 [lineCaptureDepth:Lap] Stopped
2021-08-14T23:27:06.742Z,1628983626.742 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-14T23:27:06.743Z,1628983626.743 [lineCaptureDepth:Lap:B] Stopped
2021-08-14T23:27:06.743Z,1628983626.743 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-14T23:27:06.888Z,1628983626.888 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-14T23:27:07.091Z,1628983627.091 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-14T23:27:07.096Z,1628983627.096 [DefaultWithUndock] Running Loop=1
2021-08-14T23:27:07.096Z,1628983627.096 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-14T23:27:07.096Z,1628983627.096 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-14T23:27:07.096Z,1628983627.096 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-14T23:27:37.423Z,1628983657.423 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-14T23:27:37.423Z,1628983657.423 [DefaultWithUndock:A.Wait] Stopped
2021-08-14T23:27:37.423Z,1628983657.423 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T23:27:37.423Z,1628983657.423 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-14T23:27:37.440Z,1628983657.440 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-14T23:27:37.440Z,1628983657.440 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-14T23:27:37.440Z,1628983657.440 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-14T23:27:37.440Z,1628983657.440 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-14T23:27:37.440Z,1628983657.440 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-14T23:27:37.440Z,1628983657.440 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T23:27:38.194Z,1628983658.194 [PowerOnly](INFO): Powering up loadControl
2021-08-14T23:27:40.291Z,1628983660.291 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T23:27:40.664Z,1628983660.664 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:27:40.664Z,1628983660.664 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:27:40.665Z,1628983660.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:27:40.665Z,1628983660.665 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:27:40.687Z,1628983660.687 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-14T23:27:41.037Z,1628983661.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01385,189,80,80,56,FF
2021-08-14T23:27:41.037Z,1628983661.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:27:41.037Z,1628983661.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:27:41.039Z,1628983661.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:27:41.111Z,1628983661.111 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T23:27:41.444Z,1628983661.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:27:41.493Z,1628983661.493 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-14T23:27:41.853Z,1628983661.853 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 2.95 mm.
2021-08-14T23:27:41.858Z,1628983661.858 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T23:27:42.266Z,1628983662.266 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232742.21*5F

2021-08-14T23:27:43.069Z,1628983663.069 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T23:27:44.673Z,1628983664.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:27:44.673Z,1628983664.673 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:27:44.673Z,1628983664.673 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:27:45.919Z,1628983665.919 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T23:27:46.289Z,1628983666.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:27:46.289Z,1628983666.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:27:46.289Z,1628983666.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:27:46.290Z,1628983666.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:27:46.693Z,1628983666.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:27:46.693Z,1628983666.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:27:46.694Z,1628983666.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:27:46.695Z,1628983666.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:27:47.109Z,1628983667.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:27:47.954Z,1628983667.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232747.86*57

2021-08-14T23:27:48.733Z,1628983668.733 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T23:27:50.338Z,1628983670.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:27:50.338Z,1628983670.338 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:27:50.338Z,1628983670.338 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:27:51.568Z,1628983671.568 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T23:27:51.967Z,1628983671.967 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:27:51.968Z,1628983671.968 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:27:51.969Z,1628983671.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:27:51.970Z,1628983671.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:27:52.349Z,1628983672.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:27:52.349Z,1628983672.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:27:52.349Z,1628983672.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:27:52.351Z,1628983672.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:27:52.761Z,1628983672.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:27:53.578Z,1628983673.578 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232753.52*5B

2021-08-14T23:27:54.407Z,1628983674.407 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T23:27:56.021Z,1628983676.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:27:56.021Z,1628983676.021 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:27:56.021Z,1628983676.021 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:27:57.251Z,1628983677.251 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T23:27:57.605Z,1628983677.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:27:57.605Z,1628983677.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:27:57.605Z,1628983677.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:27:57.606Z,1628983677.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:27:58.017Z,1628983678.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:27:58.017Z,1628983678.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:27:58.017Z,1628983678.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:27:58.019Z,1628983678.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:27:58.421Z,1628983678.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:27:59.238Z,1628983679.238 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232759.19*5E

2021-08-14T23:28:00.065Z,1628983680.065 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T23:28:01.645Z,1628983681.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:28:01.646Z,1628983681.646 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:28:01.646Z,1628983681.646 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:28:02.083Z,1628983682.083 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 262.32 m. Transitioning DDM to standby.
2021-08-14T23:28:02.874Z,1628983682.874 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T23:28:03.261Z,1628983683.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:28:03.261Z,1628983683.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:28:03.261Z,1628983683.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:28:03.262Z,1628983683.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:28:03.665Z,1628983683.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:28:03.665Z,1628983683.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:28:03.665Z,1628983683.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:28:03.667Z,1628983683.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:28:04.073Z,1628983684.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:28:04.511Z,1628983684.511 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-14T23:28:04.882Z,1628983684.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232804.83*5A

2021-08-14T23:28:04.894Z,1628983684.894 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T23:28:04.894Z,1628983684.894 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-14T23:28:04.895Z,1628983684.895 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-14T23:28:04.895Z,1628983684.895 [DefaultWithUndock:LeaveDock] Stopped
2021-08-14T23:28:04.895Z,1628983684.895 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-14T23:28:04.895Z,1628983684.895 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-14T23:28:04.895Z,1628983684.895 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-14T23:28:04.895Z,1628983684.895 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-14T23:28:04.895Z,1628983684.895 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-14T23:28:04.896Z,1628983684.896 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-14T23:28:04.896Z,1628983684.896 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-14T23:28:04.897Z,1628983684.897 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-14T23:28:04.897Z,1628983684.897 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-14T23:28:04.897Z,1628983684.897 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-14T23:28:04.897Z,1628983684.897 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-14T23:28:04.897Z,1628983684.897 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-14T23:28:04.898Z,1628983684.898 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-14T23:28:04.898Z,1628983684.898 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-14T23:28:04.898Z,1628983684.898 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-14T23:28:05.800Z,1628983685.800 [Radio_Surface](INFO): Powering up
2021-08-14T23:28:08.188Z,1628983688.188 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T23:28:11.820Z,1628983691.820 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-14T23:28:37.225Z,1628983717.225 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-14T23:28:37.226Z,1628983717.226 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T23:28:37.227Z,1628983717.227 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-14T23:28:37.227Z,1628983717.227 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-14T23:28:37.227Z,1628983717.227 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-14T23:28:37.229Z,1628983717.229 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-14T23:28:37.230Z,1628983717.230 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-14T23:28:41.961Z,1628983721.961 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T23:28:50.921Z,1628983730.921 [NAL9602](INFO): SBD MO Status=0, MOMSN=23973, MT Status=0, MTMSN=0
2021-08-14T23:28:50.921Z,1628983730.921 [NAL9602](INFO): No messages in MT queue
2021-08-14T23:28:52.113Z,1628983732.113 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232853.00,A,4133.14884,N,07042.68679,W,0.253,195.99,140821,,,A*75
2021-08-14T23:28:52.115Z,1628983732.115 [NAL9602](INFO): GPS fix at 20210814T232853: (41.552481, -70.711446)
2021-08-14T23:28:52.181Z,1628983732.181 [UniversalFixResidualReporter](INFO): Fix residual: 9.4 %DT, over the last 1145.5 m. Residual distance 107.7 m at bearing -129.9 degrees. Fix at (41.5525, -70.7114) with 237.3 m made good.
2021-08-14T23:28:52.182Z,1628983732.182 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-14T23:28:52.182Z,1628983732.182 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-14T23:29:09.747Z,1628983749.747 [PowerOnly](INFO): Powering down loadControl
2021-08-14T23:29:17.117Z,1628983757.117 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T23:29:23.485Z,1628983763.485 [NAL9602](INFO): SBD MO Status=1, MOMSN=23974, MT Status=0, MTMSN=0
2021-08-14T23:29:23.535Z,1628983763.535 [NAL9602](INFO): Sent 88 bytes from file Logs/20210814T221742/Courier0015.lzma
2021-08-14T23:29:23.535Z,1628983763.535 [NAL9602](INFO): Packets left to send: 0
2021-08-14T23:29:43.618Z,1628983783.618 [NAL9602](INFO): SBD MO Status=2, MOMSN=23975, MT Status=2, MTMSN=0
2021-08-14T23:29:43.619Z,1628983783.619 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-14T23:29:52.264Z,1628983792.264 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T23:29:57.717Z,1628983797.717 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T23:30:03.369Z,1628983803.369 [NAL9602](INFO): SBD MO Status=1, MOMSN=23975, MT Status=0, MTMSN=0
2021-08-14T23:30:03.426Z,1628983803.426 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0007.lzma
2021-08-14T23:30:03.426Z,1628983803.426 [NAL9602](INFO): Packets left to send: 4
2021-08-14T23:30:15.123Z,1628983815.123 [NAL9602](INFO): SBD MO Status=1, MOMSN=23976, MT Status=0, MTMSN=0
2021-08-14T23:30:15.172Z,1628983815.172 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0007.lzma
2021-08-14T23:30:15.172Z,1628983815.172 [NAL9602](INFO): Packets left to send: 3
2021-08-14T23:30:27.424Z,1628983827.424 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T23:30:27.736Z,1628983827.736 [NAL9602](INFO): SBD MO Status=1, MOMSN=23977, MT Status=0, MTMSN=0
2021-08-14T23:30:27.784Z,1628983827.784 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0007.lzma
2021-08-14T23:30:27.784Z,1628983827.784 [NAL9602](INFO): Packets left to send: 2
2021-08-14T23:30:38.720Z,1628983838.720 [NAL9602](INFO): SBD MO Status=1, MOMSN=23978, MT Status=0, MTMSN=0
2021-08-14T23:30:38.780Z,1628983838.780 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0007.lzma
2021-08-14T23:30:38.780Z,1628983838.780 [NAL9602](INFO): Packets left to send: 1
2021-08-14T23:30:51.384Z,1628983851.384 [NAL9602](INFO): SBD MO Status=1, MOMSN=23979, MT Status=0, MTMSN=0
2021-08-14T23:30:51.440Z,1628983851.440 [NAL9602](INFO): Sent 21 bytes from file Logs/20210814T221742/Express0007.lzma
2021-08-14T23:30:51.440Z,1628983851.440 [NAL9602](INFO): Packets left to send: 0
2021-08-14T23:31:02.565Z,1628983862.565 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T23:31:02.668Z,1628983862.668 [NAL9602](INFO): SBD MO Status=1, MOMSN=23980, MT Status=0, MTMSN=0
2021-08-14T23:31:02.728Z,1628983862.728 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0010.lzma
2021-08-14T23:31:02.728Z,1628983862.728 [NAL9602](INFO): Packets left to send: 1
2021-08-14T23:31:12.933Z,1628983872.933 [NAL9602](INFO): SBD MO Status=1, MOMSN=23981, MT Status=0, MTMSN=0
2021-08-14T23:31:12.984Z,1628983872.984 [NAL9602](INFO): Sent 104 bytes from file Logs/20210814T221742/Express0010.lzma
2021-08-14T23:31:12.984Z,1628983872.984 [NAL9602](INFO): Packets left to send: 0
2021-08-14T23:31:21.899Z,1628983881.899 [NAL9602](INFO): SBD MO Status=1, MOMSN=23982, MT Status=0, MTMSN=0
2021-08-14T23:31:21.958Z,1628983881.958 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0013.lzma
2021-08-14T23:31:21.958Z,1628983881.958 [NAL9602](INFO): Packets left to send: 3
2021-08-14T23:31:32.700Z,1628983892.700 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003120
2021-08-14T23:31:35.357Z,1628983895.357 [NAL9602](INFO): SBD MO Status=1, MOMSN=23983, MT Status=0, MTMSN=0
2021-08-14T23:31:35.409Z,1628983895.409 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0013.lzma
2021-08-14T23:31:35.410Z,1628983895.410 [NAL9602](INFO): Packets left to send: 2
2021-08-14T23:31:36.715Z,1628983896.715 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T221742/Courier0018.lzma
2021-08-14T23:31:37.718Z,1628983897.718 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Courier0018.lzma.bak
2021-08-14T23:31:37.718Z,1628983897.718 [DataOverHttps](INFO): SBD MOMSN=439577
2021-08-14T23:31:49.769Z,1628983909.769 [DataOverHttps](INFO): Sending 558 bytes from file Logs/20210814T221742/Express0013.lzma
2021-08-14T23:31:50.770Z,1628983910.770 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Express0013.lzma.bak
2021-08-14T23:31:50.770Z,1628983910.770 [DataOverHttps](INFO): SBD MOMSN=439604
2021-08-14T23:32:01.818Z,1628983921.818 [DataOverHttps](INFO): Sending 448 bytes from file Logs/20210814T221742/Express0016.lzma
2021-08-14T23:32:03.822Z,1628983923.822 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Express0016.lzma.bak
2021-08-14T23:32:03.822Z,1628983923.822 [DataOverHttps](INFO): SBD MOMSN=439610
2021-08-14T23:32:06.065Z,1628983926.065 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T23:32:18.884Z,1628983938.884 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20210814T221742/Express0019.lzma
2021-08-14T23:32:19.395Z,1628983939.395 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-14T23:32:19.808Z,1628983939.808 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814233219.024657,06,895,23,0097,0150,149,01,01,01,01,1,-01,-01,2,4,5,0,150,-4.3,0.91,00,2.09,-01,-4.40,55,14500,4000*46

2021-08-14T23:32:19.889Z,1628983939.889 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Express0019.lzma.bak
2021-08-14T23:32:19.889Z,1628983939.889 [DataOverHttps](INFO): SBD MOMSN=439616
2021-08-14T23:32:21.842Z,1628983941.842 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-14T23:32:21.842Z,1628983941.842 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-14T23:32:21.842Z,1628983941.842 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-14T23:33:13.981Z,1628983993.981 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T23:33:13.982Z,1628983993.982 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T23:33:13.984Z,1628983993.984 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T23:33:14.377Z,1628983994.377 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814233310.995083,06,1192,24,0102,0150,208,02,02,01,02,-1,-01,-01,1,3,7,0,150,79.9,6.63,-100,-3.63,-01,-2.52,-12,14500,4000*58

2021-08-14T23:33:57.591Z,1628984037.591 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T23:33:57.591Z,1628984037.591 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T23:33:57.594Z,1628984037.594 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T23:33:57.994Z,1628984037.994 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814233354.996831,06,1618,26,0110,0150,208,02,02,01,02,-1,-01,-01,1,3,6,0,150,82.8,12.31,-100,-9.31,-01,1.09,-12,14500,4000*45

2021-08-14T23:34:28.699Z,1628984068.699 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T23:34:28.703Z,1628984068.703 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814233429.013613,06,244,23,0157,0150,82,01,01,00,01,-1,-01,-01,1,3,1,0,150,34.7,-359.55,-100,-292.81,-01,0.00,44,14500,4000*71

2021-08-14T23:35:02.631Z,1628984102.631 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T23:35:02.632Z,1628984102.632 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T23:35:02.634Z,1628984102.634 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T23:35:03.030Z,1628984103.030 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814233501.013035,06,314,24,0108,0150,149,02,02,00,02,-1,-01,-01,1,3,4,0,150,76.1,4.08,-100,-1.08,-01,0.29,-12,14500,4000*43

2021-08-14T23:37:22.486Z,1628984242.486 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-14T23:37:22.486Z,1628984242.486 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-14T23:37:22.487Z,1628984242.487 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T23:37:22.487Z,1628984242.487 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-14T23:37:22.832Z,1628984242.832 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-14T23:37:22.833Z,1628984242.833 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-14T23:37:23.228Z,1628984243.228 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 10.262345 min 
2021-08-14T23:37:23.228Z,1628984243.228 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-14T23:37:23.229Z,1628984243.229 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T23:37:23.229Z,1628984243.229 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-14T23:37:23.229Z,1628984243.229 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T23:37:23.229Z,1628984243.229 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-08-14T23:37:23.229Z,1628984243.229 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-08-14T23:37:23.229Z,1628984243.229 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T23:37:23.229Z,1628984243.229 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-14T23:37:25.240Z,1628984245.240 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,233726.00,A,4133.14833,N,07042.65728,W,0.428,84.11,140821,,,A*46
2021-08-14T23:37:25.242Z,1628984245.242 [NAL9602](INFO): GPS fix at 20210814T233726: (41.552472, -70.710955)
2021-08-14T23:37:25.253Z,1628984245.253 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-14T23:37:25.253Z,1628984245.253 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-14T23:37:38.164Z,1628984258.164 [NAL9602](INFO): SBD MO Status=0, MOMSN=23984, MT Status=0, MTMSN=0
2021-08-14T23:37:38.164Z,1628984258.164 [NAL9602](INFO): No messages in MT queue
2021-08-14T23:37:44.199Z,1628984264.199 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20210814T221742/Courier0021.lzma
2021-08-14T23:37:45.202Z,1628984265.202 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Courier0021.lzma.bak
2021-08-14T23:37:45.202Z,1628984265.202 [DataOverHttps](INFO): SBD MOMSN=439618
2021-08-14T23:37:48.271Z,1628984268.271 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T23:37:57.993Z,1628984277.993 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T23:37:59.260Z,1628984279.260 [DataOverHttps](INFO): Sending 118 bytes from file Logs/20210814T221742/Express0022.lzma
2021-08-14T23:38:00.262Z,1628984280.262 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Express0022.lzma.bak
2021-08-14T23:38:00.262Z,1628984280.262 [DataOverHttps](INFO): SBD MOMSN=439623
2021-08-14T23:38:02.041Z,1628984282.041 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-14T23:38:02.041Z,1628984282.041 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-14T23:38:02.041Z,1628984282.041 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-14T23:38:03.228Z,1628984283.228 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-14T23:38:03.626Z,1628984283.626 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814233801.010733,06,393,19,0131,0150,149,02,02,01,02,2,-01,-01,2,3,2,0,150,5.7,-0.27,06,3.27,-01,2.84,55,14500,4000*68

2021-08-14T23:38:08.870Z,1628984288.870 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T23:38:58.225Z,1628984338.225 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T23:39:17.570Z,1628984357.570 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T233918
2021-08-14T23:39:22.592Z,1628984362.592 [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" 2rz0o 1 2
2021-08-14T23:39:22.638Z,1628984362.638 [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" 2rz0o 1 2.000000
2021-08-14T23:39:22.638Z,1628984362.638 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2rz0o
2021-08-14T23:39:22.639Z,1628984362.639 [CommandLine](IMPORTANT): Scheduled #18 (#1 of 2 with id='2rz0o'): "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
2021-08-14T23:39:23.594Z,1628984363.594 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T233924
2021-08-14T23:39:28.097Z,1628984368.097 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T23:39:29.620Z,1628984369.620 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2rz0o 2 2
2021-08-14T23:39:29.673Z,1628984369.673 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2rz0o 2 2.000000
2021-08-14T23:39:29.674Z,1628984369.674 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2rz0o
2021-08-14T23:39:29.675Z,1628984369.675 [CommandLine](IMPORTANT): Scheduled #19 (#2 of 2 with id='2rz0o'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-14T23:39:29.810Z,1628984369.810 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T23:39:29.811Z,1628984369.811 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T23:39:30.062Z,1628984370.062 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-14T23:39:30.069Z,1628984370.069 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-14T23:39:30.074Z,1628984370.074 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-14T23:39:30.076Z,1628984370.076 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-14T23:39:30.079Z,1628984370.079 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-14T23:39:30.097Z,1628984370.097 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-14T23:39:30.099Z,1628984370.099 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-14T23:39:30.106Z,1628984370.106 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-14T23:39:30.116Z,1628984370.116 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-14T23:39:30.119Z,1628984370.119 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-14T23:39:30.129Z,1628984370.129 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-14T23:39:30.140Z,1628984370.140 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-14T23:39:30.143Z,1628984370.143 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-14T23:39:30.153Z,1628984370.153 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-14T23:39:30.164Z,1628984370.164 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-14T23:39:30.165Z,1628984370.165 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-14T23:39:30.649Z,1628984370.649 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-14T23:39:30.651Z,1628984370.651 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-14T23:39:30.653Z,1628984370.653 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-14T23:39:30.655Z,1628984370.655 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-14T23:39:30.658Z,1628984370.658 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-14T23:39:30.659Z,1628984370.659 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-14T23:39:30.662Z,1628984370.662 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-14T23:39:30.664Z,1628984370.664 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-14T23:39:30.667Z,1628984370.667 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-14T23:39:30.669Z,1628984370.669 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-14T23:39:30.671Z,1628984370.671 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-14T23:39:30.673Z,1628984370.673 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-14T23:39:30.675Z,1628984370.675 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-14T23:39:30.677Z,1628984370.677 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-14T23:39:30.680Z,1628984370.680 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-14T23:39:30.683Z,1628984370.683 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-14T23:39:30.686Z,1628984370.686 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-14T23:39:30.689Z,1628984370.689 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-14T23:39:30.721Z,1628984370.721 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-14T23:39:30.723Z,1628984370.723 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-14T23:39:30.730Z,1628984370.730 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-14T23:39:30.737Z,1628984370.737 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-14T23:39:30.739Z,1628984370.739 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-14T23:39:30.750Z,1628984370.750 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-14T23:39:30.756Z,1628984370.756 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-14T23:39:30.761Z,1628984370.761 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-14T23:39:30.764Z,1628984370.764 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-14T23:39:30.766Z,1628984370.766 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-14T23:39:30.771Z,1628984370.771 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-14T23:39:30.782Z,1628984370.782 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-14T23:39:30.789Z,1628984370.789 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-14T23:39:30.791Z,1628984370.791 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-14T23:39:30.802Z,1628984370.802 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-14T23:39:30.809Z,1628984370.809 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-14T23:39:30.811Z,1628984370.811 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-14T23:39:30.818Z,1628984370.818 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-14T23:39:30.821Z,1628984370.821 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-14T23:39:30.823Z,1628984370.823 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-14T23:39:30.831Z,1628984370.831 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-14T23:39:30.833Z,1628984370.833 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-14T23:39:30.836Z,1628984370.836 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-14T23:39:30.838Z,1628984370.838 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-14T23:39:30.871Z,1628984370.871 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-14T23:39:30.873Z,1628984370.873 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-14T23:39:30.876Z,1628984370.876 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-14T23:39:30.878Z,1628984370.878 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-14T23:39:30.929Z,1628984370.929 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-14T23:39:30.931Z,1628984370.931 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-14T23:39:30.950Z,1628984370.950 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-14T23:39:30.959Z,1628984370.959 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-14T23:39:30.966Z,1628984370.966 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-14T23:39:30.976Z,1628984370.976 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-14T23:39:30.979Z,1628984370.979 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-14T23:39:30.990Z,1628984370.990 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-14T23:39:31.005Z,1628984371.005 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-14T23:39:31.007Z,1628984371.007 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-14T23:39:31.014Z,1628984371.014 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-14T23:39:31.017Z,1628984371.017 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-14T23:39:31.019Z,1628984371.019 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-14T23:39:31.030Z,1628984371.030 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-14T23:39:31.039Z,1628984371.039 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-14T23:39:31.046Z,1628984371.046 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-14T23:39:31.049Z,1628984371.049 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-14T23:39:31.064Z,1628984371.064 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-14T23:39:31.098Z,1628984371.098 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T23:39:31.131Z,1628984371.131 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T23:39:31.162Z,1628984371.162 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T23:39:31.185Z,1628984371.185 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T23:39:31.209Z,1628984371.209 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T23:39:31.238Z,1628984371.238 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T23:39:31.265Z,1628984371.265 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T23:39:31.294Z,1628984371.294 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T23:39:31.363Z,1628984371.363 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-14T23:39:31.443Z,1628984371.443 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-14T23:39:31.456Z,1628984371.456 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-14T23:39:31.459Z,1628984371.459 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-14T23:39:31.464Z,1628984371.464 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-14T23:39:31.471Z,1628984371.471 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-14T23:39:31.487Z,1628984371.487 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-14T23:39:31.513Z,1628984371.513 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-14T23:39:31.594Z,1628984371.594 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-14T23:39:31.597Z,1628984371.597 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-14T23:39:31.599Z,1628984371.599 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-14T23:39:31.601Z,1628984371.601 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-14T23:39:31.620Z,1628984371.620 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-14T23:39:31.622Z,1628984371.622 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-14T23:39:31.630Z,1628984371.630 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-14T23:39:31.649Z,1628984371.649 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-14T23:39:31.672Z,1628984371.672 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-14T23:39:31.686Z,1628984371.686 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-14T23:39:31.688Z,1628984371.688 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-14T23:39:31.692Z,1628984371.692 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-14T23:39:31.753Z,1628984371.753 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-14T23:39:31.996Z,1628984371.996 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-14T23:39:31.999Z,1628984371.999 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-14T23:39:32.001Z,1628984372.001 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-14T23:39:32.004Z,1628984372.004 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-14T23:39:32.006Z,1628984372.006 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-14T23:39:32.009Z,1628984372.009 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-14T23:39:32.012Z,1628984372.012 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-14T23:39:32.015Z,1628984372.015 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-14T23:39:32.017Z,1628984372.017 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-14T23:39:32.020Z,1628984372.020 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-14T23:39:32.022Z,1628984372.022 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-14T23:39:32.025Z,1628984372.025 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-14T23:39:32.027Z,1628984372.027 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-14T23:39:32.029Z,1628984372.029 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-14T23:39:32.032Z,1628984372.032 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-14T23:39:32.034Z,1628984372.034 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-14T23:39:32.065Z,1628984372.065 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-14T23:39:32.068Z,1628984372.068 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-14T23:39:32.070Z,1628984372.070 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-14T23:39:32.073Z,1628984372.073 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-14T23:39:32.075Z,1628984372.075 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-14T23:39:32.098Z,1628984372.098 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-14T23:39:32.101Z,1628984372.101 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-14T23:39:32.103Z,1628984372.103 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-14T23:39:32.154Z,1628984372.154 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-14T23:39:32.168Z,1628984372.168 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-14T23:39:32.185Z,1628984372.185 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-14T23:39:32.244Z,1628984372.244 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-14T23:39:32.247Z,1628984372.247 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-14T23:39:32.254Z,1628984372.254 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-14T23:39:32.255Z,1628984372.255 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-14T23:39:32.269Z,1628984372.269 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-14T23:39:32.284Z,1628984372.284 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-14T23:39:32.319Z,1628984372.319 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-14T23:39:32.322Z,1628984372.322 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-14T23:39:32.341Z,1628984372.341 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-14T23:39:32.341Z,1628984372.341 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T23:39:32.375Z,1628984372.375 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-14T23:39:32.378Z,1628984372.378 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-14T23:39:32.400Z,1628984372.400 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-14T23:39:32.456Z,1628984372.456 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-14T23:39:32.466Z,1628984372.466 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-14T23:39:32.489Z,1628984372.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-14T23:39:32.506Z,1628984372.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-14T23:39:32.563Z,1628984372.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T23:39:32.563Z,1628984372.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T23:39:32.574Z,1628984372.574 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-14T23:39:32.596Z,1628984372.596 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-14T23:39:32.640Z,1628984372.640 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-14T23:39:32.643Z,1628984372.643 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-14T23:39:32.655Z,1628984372.655 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-14T23:39:32.658Z,1628984372.658 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-14T23:39:32.672Z,1628984372.672 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-14T23:39:32.732Z,1628984372.732 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-14T23:39:32.732Z,1628984372.732 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-14T23:39:32.740Z,1628984372.740 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-14T23:39:32.740Z,1628984372.740 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T23:39:32.795Z,1628984372.795 [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>


2021-08-14T23:39:32.795Z,1628984372.795 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T23:39:46.445Z,1628984386.445 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 120.000000 minute
2021-08-14T23:39:46.446Z,1628984386.446 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-14T23:39:46.446Z,1628984386.446 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-14T23:39:46.447Z,1628984386.447 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-14T23:39:52.892Z,1628984392.892 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-14T23:39:52.893Z,1628984392.893 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-14T23:39:52.893Z,1628984392.893 [CommandLine](IMPORTANT): got command run
2021-08-14T23:39:52.895Z,1628984392.895 [CommandLine](IMPORTANT): Running 
2021-08-14T23:39:53.149Z,1628984393.149 [DefaultWithUndock] Stopped
2021-08-14T23:39:53.150Z,1628984393.150 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-14T23:39:53.150Z,1628984393.150 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-14T23:39:53.150Z,1628984393.150 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-14T23:39:53.150Z,1628984393.150 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-14T23:39:53.150Z,1628984393.150 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-14T23:39:53.150Z,1628984393.150 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-14T23:39:53.150Z,1628984393.150 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T23:39:53.150Z,1628984393.150 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-14T23:39:53.150Z,1628984393.150 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T23:39:53.151Z,1628984393.151 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-14T23:39:53.151Z,1628984393.151 [lineCaptureDepth] Running Loop=1
2021-08-14T23:39:53.151Z,1628984393.151 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-14T23:39:53.151Z,1628984393.151 [lineCaptureDepth:Science] Running Loop=1
2021-08-14T23:39:53.151Z,1628984393.151 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-14T23:39:53.151Z,1628984393.151 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-14T23:39:53.151Z,1628984393.151 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-14T23:39:53.152Z,1628984393.152 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-14T23:39:53.152Z,1628984393.152 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-14T23:39:53.152Z,1628984393.152 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-14T23:39:53.152Z,1628984393.152 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-14T23:39:53.152Z,1628984393.152 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-14T23:39:53.152Z,1628984393.152 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-14T23:39:53.152Z,1628984393.152 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-14T23:39:53.153Z,1628984393.152 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T23:39:53.153Z,1628984393.153 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T23:39:53.154Z,1628984393.154 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-14T23:39:53.154Z,1628984393.154 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-14T23:39:53.154Z,1628984393.154 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T23:39:53.154Z,1628984393.154 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T23:39:53.155Z,1628984393.155 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-14T23:39:53.155Z,1628984393.155 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-14T23:39:53.155Z,1628984393.155 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T23:39:53.155Z,1628984393.155 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T23:39:53.157Z,1628984393.157 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-14T23:39:53.157Z,1628984393.157 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-14T23:39:53.157Z,1628984393.157 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T23:39:53.157Z,1628984393.157 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T23:39:53.158Z,1628984393.158 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-14T23:39:53.158Z,1628984393.158 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-14T23:39:53.158Z,1628984393.158 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T23:39:53.159Z,1628984393.159 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T23:39:53.159Z,1628984393.159 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-14T23:39:53.159Z,1628984393.159 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-14T23:39:53.159Z,1628984393.159 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T23:39:53.159Z,1628984393.159 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T23:39:53.161Z,1628984393.161 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-14T23:39:53.161Z,1628984393.161 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-14T23:39:53.161Z,1628984393.161 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T23:39:53.161Z,1628984393.161 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T23:39:53.162Z,1628984393.162 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-14T23:39:53.163Z,1628984393.163 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-14T23:39:53.163Z,1628984393.163 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T23:39:53.163Z,1628984393.163 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T23:39:53.164Z,1628984393.164 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-14T23:39:53.164Z,1628984393.164 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-14T23:39:53.164Z,1628984393.164 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-14T23:39:53.164Z,1628984393.164 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-14T23:39:53.165Z,1628984393.165 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-14T23:39:53.165Z,1628984393.165 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-14T23:39:53.165Z,1628984393.165 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T23:39:53.165Z,1628984393.165 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T23:39:53.165Z,1628984393.165 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T23:39:53.165Z,1628984393.165 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T23:39:53.165Z,1628984393.165 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T23:39:53.165Z,1628984393.165 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T23:39:53.166Z,1628984393.166 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T23:39:53.166Z,1628984393.166 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T23:39:53.166Z,1628984393.166 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T23:39:53.166Z,1628984393.166 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T23:39:53.166Z,1628984393.166 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T23:39:53.166Z,1628984393.166 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-14T23:39:53.166Z,1628984393.166 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-14T23:39:53.166Z,1628984393.166 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T23:39:53.167Z,1628984393.167 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T23:39:53.167Z,1628984393.167 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-14T23:39:53.167Z,1628984393.167 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T23:39:53.167Z,1628984393.167 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T23:39:53.167Z,1628984393.167 [lineCaptureDepth:C] Running Loop=1
2021-08-14T23:39:53.169Z,1628984393.169 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T23:39:53.169Z,1628984393.169 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T23:39:53.169Z,1628984393.169 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-14T23:39:53.169Z,1628984393.169 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T23:39:53.169Z,1628984393.169 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-14T23:39:53.169Z,1628984393.169 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-14T23:39:53.170Z,1628984393.170 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T23:39:53.170Z,1628984393.170 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T23:39:53.170Z,1628984393.170 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T23:39:53.170Z,1628984393.170 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T23:39:53.170Z,1628984393.170 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T23:39:53.171Z,1628984393.171 [lineCaptureDepth:C] Stopped
2021-08-14T23:39:53.171Z,1628984393.171 [lineCaptureDepth:D] Running Loop=1
2021-08-14T23:39:53.171Z,1628984393.171 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-14T23:39:53.171Z,1628984393.171 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T23:39:53.171Z,1628984393.171 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T23:39:53.172Z,1628984393.172 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T23:39:53.173Z,1628984393.173 [lineCaptureDepth:Science] Running Loop=1
2021-08-14T23:39:53.174Z,1628984393.174 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-14T23:39:53.174Z,1628984393.174 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-14T23:39:53.174Z,1628984393.174 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T23:39:53.174Z,1628984393.174 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T23:39:53.174Z,1628984393.174 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-14T23:39:53.174Z,1628984393.174 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-14T23:39:53.174Z,1628984393.174 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-14T23:39:53.174Z,1628984393.174 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T23:39:53.175Z,1628984393.175 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-14T23:39:53.175Z,1628984393.175 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-14T23:39:53.175Z,1628984393.175 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-14T23:39:53.175Z,1628984393.175 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T23:39:53.175Z,1628984393.175 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-14T23:39:53.175Z,1628984393.175 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-14T23:39:53.175Z,1628984393.175 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T23:39:53.175Z,1628984393.175 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T23:39:53.175Z,1628984393.175 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-14T23:39:53.175Z,1628984393.175 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-14T23:39:53.176Z,1628984393.176 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-14T23:39:53.176Z,1628984393.176 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T23:39:53.176Z,1628984393.176 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-14T23:39:53.176Z,1628984393.176 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-14T23:39:53.176Z,1628984393.176 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-14T23:39:53.176Z,1628984393.176 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T23:39:53.176Z,1628984393.176 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-14T23:39:53.176Z,1628984393.176 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-14T23:39:53.177Z,1628984393.177 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T23:39:53.177Z,1628984393.177 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T23:39:53.177Z,1628984393.177 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-14T23:39:53.177Z,1628984393.177 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-14T23:39:53.177Z,1628984393.177 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-14T23:39:53.177Z,1628984393.177 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T23:39:53.177Z,1628984393.177 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-14T23:39:53.178Z,1628984393.178 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-14T23:39:53.179Z,1628984393.179 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-14T23:39:53.179Z,1628984393.179 [lineCaptureDepth:Science:F] Stopped
2021-08-14T23:39:53.179Z,1628984393.179 [lineCaptureDepth:Science:E] Stopped
2021-08-14T23:39:53.179Z,1628984393.179 [lineCaptureDepth:Science:D] Stopped
2021-08-14T23:39:53.179Z,1628984393.179 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-14T23:39:53.196Z,1628984393.196 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-14T23:39:53.196Z,1628984393.196 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-14T23:39:53.197Z,1628984393.197 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-14T23:39:53.197Z,1628984393.197 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-14T23:39:53.198Z,1628984393.198 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-14T23:39:53.198Z,1628984393.198 [lineCaptureDepth:Science:A] Stopped
2021-08-14T23:39:53.368Z,1628984393.368 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-14T23:39:53.567Z,1628984393.567 [lineCaptureDepth:D] Stopped
2021-08-14T23:39:53.567Z,1628984393.567 [lineCaptureDepth:E] Running Loop=1
2021-08-14T23:39:54.032Z,1628984394.032 [lineCaptureDepth:E] Stopped
2021-08-14T23:39:54.033Z,1628984394.033 [lineCaptureDepth:G] Running Loop=1
2021-08-14T23:39:54.363Z,1628984394.363 [lineCaptureDepth:G] Stopped
2021-08-14T23:39:54.363Z,1628984394.363 [lineCaptureDepth:H] Running Loop=1
2021-08-14T23:39:54.760Z,1628984394.760 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:711.497986
2021-08-14T23:39:54.774Z,1628984394.774 [lineCaptureDepth:H] Stopped
2021-08-14T23:39:54.774Z,1628984394.774 [lineCaptureDepth:J] Running Loop=1
2021-08-14T23:39:55.199Z,1628984395.199 [lineCaptureDepth:J] Stopped
2021-08-14T23:39:55.199Z,1628984395.199 [lineCaptureDepth:M] Running Loop=1
2021-08-14T23:39:55.569Z,1628984395.569 [lineCaptureDepth:M] Stopped
2021-08-14T23:39:55.569Z,1628984395.569 [lineCaptureDepth:N] Running Loop=1
2021-08-14T23:39:56.082Z,1628984396.082 [lineCaptureDepth:N] Stopped
2021-08-14T23:39:56.082Z,1628984396.082 [lineCaptureDepth:O] Running Loop=1
2021-08-14T23:39:56.082Z,1628984396.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:39:56.375Z,1628984396.375 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:39:56.376Z,1628984396.376 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:39:56.376Z,1628984396.376 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:39:56.377Z,1628984396.377 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:39:56.399Z,1628984396.399 [lineCaptureDepth:O] Stopped
2021-08-14T23:39:56.399Z,1628984396.399 [lineCaptureDepth:Lap] Running Loop=1
2021-08-14T23:39:56.399Z,1628984396.399 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-14T23:39:56.401Z,1628984396.401 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-14T23:39:56.772Z,1628984396.772 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:39:56.772Z,1628984396.772 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:39:56.773Z,1628984396.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:39:56.775Z,1628984396.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:39:56.901Z,1628984396.901 [lineCaptureDepth:Lap:A] Stopped
2021-08-14T23:39:56.901Z,1628984396.901 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-14T23:39:56.901Z,1628984396.901 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-14T23:39:57.141Z,1628984397.141 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-14T23:39:57.184Z,1628984397.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:39:57.213Z,1628984397.213 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-14T23:39:57.214Z,1628984397.214 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-14T23:39:57.214Z,1628984397.214 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T23:39:57.214Z,1628984397.214 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T23:39:57.214Z,1628984397.214 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T23:39:57.214Z,1628984397.214 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T23:39:57.214Z,1628984397.214 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T23:39:57.214Z,1628984397.214 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T23:39:57.214Z,1628984397.214 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T23:39:57.215Z,1628984397.215 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T23:39:57.215Z,1628984397.215 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T23:39:57.215Z,1628984397.215 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T23:39:57.215Z,1628984397.215 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T23:39:57.215Z,1628984397.215 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T23:39:57.215Z,1628984397.215 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T23:39:57.215Z,1628984397.215 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T23:39:57.215Z,1628984397.215 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T23:39:57.215Z,1628984397.215 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T23:39:57.215Z,1628984397.215 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T23:39:57.216Z,1628984397.216 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-14T23:39:57.216Z,1628984397.216 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T23:39:57.216Z,1628984397.216 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T23:39:57.216Z,1628984397.216 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T23:39:57.216Z,1628984397.216 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T23:39:57.217Z,1628984397.217 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T23:39:57.217Z,1628984397.217 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T23:39:57.217Z,1628984397.217 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T23:39:57.217Z,1628984397.217 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T23:39:57.217Z,1628984397.217 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T23:39:57.217Z,1628984397.217 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T23:39:57.218Z,1628984397.218 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T23:39:57.218Z,1628984397.218 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T23:39:57.218Z,1628984397.218 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T23:39:57.219Z,1628984397.219 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-14T23:39:57.219Z,1628984397.219 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-14T23:39:57.630Z,1628984397.630 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-14T23:39:57.630Z,1628984397.630 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-14T23:39:58.065Z,1628984398.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233957.95*5B

2021-08-14T23:39:58.099Z,1628984398.099 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-14T23:39:58.099Z,1628984398.099 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-14T23:39:58.457Z,1628984398.457 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-14T23:39:58.457Z,1628984398.457 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-14T23:39:58.810Z,1628984398.810 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-14T23:39:58.810Z,1628984398.810 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-14T23:39:58.811Z,1628984398.811 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T23:39:58.811Z,1628984398.811 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T23:39:58.811Z,1628984398.811 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T23:39:58.811Z,1628984398.811 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-14T23:39:58.811Z,1628984398.811 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T23:39:58.811Z,1628984398.811 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-14T23:39:58.811Z,1628984398.811 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-14T23:39:58.812Z,1628984398.812 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T23:39:58.812Z,1628984398.812 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T23:39:58.812Z,1628984398.812 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T23:39:58.813Z,1628984398.813 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T23:39:58.813Z,1628984398.813 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T23:39:58.813Z,1628984398.813 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T23:39:58.813Z,1628984398.813 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T23:39:58.813Z,1628984398.813 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T23:39:58.813Z,1628984398.813 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T23:39:58.813Z,1628984398.813 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T23:39:58.814Z,1628984398.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T23:39:58.814Z,1628984398.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T23:39:58.814Z,1628984398.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T23:39:58.814Z,1628984398.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T23:39:58.814Z,1628984398.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T23:39:58.814Z,1628984398.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T23:39:58.814Z,1628984398.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T23:39:58.814Z,1628984398.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T23:39:58.815Z,1628984398.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T23:39:58.816Z,1628984398.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:39:59.257Z,1628984399.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T23:39:59.257Z,1628984399.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T23:39:59.258Z,1628984399.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T23:39:59.258Z,1628984399.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T23:39:59.258Z,1628984399.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T23:39:59.258Z,1628984399.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T23:39:59.258Z,1628984399.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T23:39:59.258Z,1628984399.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T23:39:59.258Z,1628984399.258 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T23:39:59.258Z,1628984399.258 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T23:39:59.258Z,1628984399.258 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T23:39:59.259Z,1628984399.259 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T23:39:59.259Z,1628984399.259 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T23:39:59.259Z,1628984399.259 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T23:39:59.259Z,1628984399.259 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T23:39:59.259Z,1628984399.259 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T23:39:59.259Z,1628984399.259 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T23:39:59.599Z,1628984399.599 [PowerOnly](INFO): Powering up loadControl
2021-08-14T23:40:00.113Z,1628984400.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:00.114Z,1628984400.114 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:00.114Z,1628984400.114 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:40:01.694Z,1628984401.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:02.049Z,1628984402.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:40:02.049Z,1628984402.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:40:02.049Z,1628984402.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:40:02.050Z,1628984402.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:40:02.484Z,1628984402.484 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:02.484Z,1628984402.484 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:40:02.485Z,1628984402.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:40:02.487Z,1628984402.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:40:02.610Z,1628984402.610 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-14T23:40:02.869Z,1628984402.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:40:02.907Z,1628984402.907 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T23:40:04.081Z,1628984404.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234003.70*5F

2021-08-14T23:40:04.511Z,1628984404.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:06.093Z,1628984406.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:06.094Z,1628984406.093 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:06.094Z,1628984406.094 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:40:07.369Z,1628984407.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:07.733Z,1628984407.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:40:07.733Z,1628984407.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:40:07.733Z,1628984407.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:40:07.734Z,1628984407.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:40:08.110Z,1628984408.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:08.110Z,1628984408.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:40:08.110Z,1628984408.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:40:08.114Z,1628984408.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:40:08.521Z,1628984408.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:40:09.338Z,1628984409.338 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234009.29*59

2021-08-14T23:40:10.200Z,1628984410.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:11.757Z,1628984411.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:11.757Z,1628984411.757 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:11.757Z,1628984411.757 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:40:12.978Z,1628984412.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:13.372Z,1628984413.372 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:40:13.372Z,1628984413.372 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:40:13.373Z,1628984413.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:40:13.374Z,1628984413.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:40:13.774Z,1628984413.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:13.774Z,1628984413.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:40:13.774Z,1628984413.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:40:13.776Z,1628984413.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:40:14.193Z,1628984414.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:40:14.998Z,1628984414.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234014.95*52

2021-08-14T23:40:15.834Z,1628984415.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:17.406Z,1628984417.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:17.406Z,1628984417.406 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:17.406Z,1628984417.406 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:40:18.644Z,1628984418.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:19.017Z,1628984419.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:40:19.017Z,1628984419.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:40:19.017Z,1628984419.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:40:19.018Z,1628984419.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:40:19.040Z,1628984419.040 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:19.040Z,1628984419.040 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:40:19.040Z,1628984419.040 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:40:19.042Z,1628984419.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:40:19.433Z,1628984419.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:40:20.233Z,1628984420.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234020.22*59

2021-08-14T23:40:21.479Z,1628984421.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:22.670Z,1628984422.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:22.670Z,1628984422.670 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:22.670Z,1628984422.670 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:40:23.107Z,1628984423.107 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 262.32 m. Transitioning DDM to standby.
2021-08-14T23:40:24.371Z,1628984424.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:24.673Z,1628984424.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:40:24.673Z,1628984424.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:40:24.673Z,1628984424.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:40:24.674Z,1628984424.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:40:25.093Z,1628984425.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:25.093Z,1628984425.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:40:25.094Z,1628984425.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:40:25.095Z,1628984425.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:40:25.520Z,1628984425.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:40:25.555Z,1628984425.555 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-14T23:40:25.950Z,1628984425.950 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T23:40:25.950Z,1628984425.950 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-14T23:40:25.951Z,1628984425.951 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-14T23:40:26.283Z,1628984426.283 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234026.27*5A

2021-08-14T23:40:26.424Z,1628984426.424 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-14T23:40:26.424Z,1628984426.424 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-14T23:40:26.424Z,1628984426.424 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-14T23:40:26.732Z,1628984426.732 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-14T23:40:26.732Z,1628984426.732 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T23:40:26.732Z,1628984426.732 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-14T23:40:26.733Z,1628984426.733 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T23:40:26.733Z,1628984426.733 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T23:40:27.096Z,1628984427.096 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T23:40:27.097Z,1628984427.097 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T23:40:27.097Z,1628984427.097 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T23:40:27.097Z,1628984427.097 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T23:40:27.097Z,1628984427.097 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T23:40:27.097Z,1628984427.097 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T23:40:27.097Z,1628984427.097 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T23:40:27.097Z,1628984427.097 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T23:40:27.097Z,1628984427.097 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T23:40:27.097Z,1628984427.097 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T23:40:27.098Z,1628984427.098 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T23:40:27.098Z,1628984427.098 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T23:40:27.099Z,1628984427.099 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-14T23:40:27.100Z,1628984427.100 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T23:40:27.100Z,1628984427.100 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-14T23:40:27.100Z,1628984427.100 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-14T23:40:27.102Z,1628984427.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:27.515Z,1628984427.515 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T23:40:27.515Z,1628984427.515 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T23:40:27.515Z,1628984427.515 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T23:40:27.515Z,1628984427.515 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T23:40:27.515Z,1628984427.515 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T23:40:27.516Z,1628984427.516 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T23:40:27.516Z,1628984427.516 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T23:40:27.516Z,1628984427.516 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T23:40:27.516Z,1628984427.516 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T23:40:27.516Z,1628984427.516 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T23:40:27.517Z,1628984427.517 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T23:40:28.681Z,1628984428.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:28.682Z,1628984428.682 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:28.682Z,1628984428.682 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:40:29.986Z,1628984429.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:30.305Z,1628984430.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:40:30.305Z,1628984430.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:40:30.305Z,1628984430.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:40:30.306Z,1628984430.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:40:30.703Z,1628984430.703 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:30.703Z,1628984430.703 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:40:30.703Z,1628984430.703 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:40:30.705Z,1628984430.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:40:31.113Z,1628984431.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:40:31.968Z,1628984431.968 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234031.88*59

2021-08-14T23:40:32.763Z,1628984432.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:34.345Z,1628984434.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:34.345Z,1628984434.345 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:34.345Z,1628984434.345 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:40:35.585Z,1628984435.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:35.972Z,1628984435.972 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:40:35.972Z,1628984435.972 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:40:35.973Z,1628984435.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:40:35.974Z,1628984435.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:40:36.373Z,1628984436.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:36.373Z,1628984436.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:40:36.374Z,1628984436.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:40:36.375Z,1628984436.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:40:36.783Z,1628984436.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:40:37.587Z,1628984437.587 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234037.55*5F

2021-08-14T23:40:38.425Z,1628984438.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:40.001Z,1628984440.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:40.002Z,1628984440.002 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:40.002Z,1628984440.002 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:40:41.233Z,1628984441.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:41.626Z,1628984441.626 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:40:41.626Z,1628984441.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:40:41.626Z,1628984441.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:40:41.627Z,1628984441.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:40:42.021Z,1628984442.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:42.022Z,1628984442.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:40:42.022Z,1628984442.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:40:42.023Z,1628984442.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:40:42.432Z,1628984442.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:40:43.260Z,1628984443.260 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234043.20*5E

2021-08-14T23:40:44.116Z,1628984444.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:45.658Z,1628984445.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:45.658Z,1628984445.658 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:45.658Z,1628984445.658 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:40:46.887Z,1628984446.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:47.284Z,1628984447.284 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:40:47.285Z,1628984447.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:40:47.285Z,1628984447.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:40:47.286Z,1628984447.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:40:47.677Z,1628984447.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:47.677Z,1628984447.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:40:47.677Z,1628984447.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:40:47.679Z,1628984447.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:40:48.102Z,1628984448.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:40:48.895Z,1628984448.895 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234048.85*5A

2021-08-14T23:40:49.731Z,1628984449.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:51.317Z,1628984451.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:51.317Z,1628984451.317 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:51.317Z,1628984451.317 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:40:52.587Z,1628984452.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:52.937Z,1628984452.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:40:52.937Z,1628984452.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:40:52.937Z,1628984452.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:40:52.938Z,1628984452.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:40:53.334Z,1628984453.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,56,FF
2021-08-14T23:40:53.334Z,1628984453.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:40:53.334Z,1628984453.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:40:53.336Z,1628984453.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:40:53.741Z,1628984453.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:40:54.552Z,1628984454.552 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DE,000,016B6,188,80,80,7A,FF
2021-08-14T23:40:54.552Z,1628984454.552 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:40:54.555Z,1628984454.555 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234054.51*5E

2021-08-14T23:40:55.393Z,1628984455.393 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-14T23:40:55.393Z,1628984455.393 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T23:40:55.394Z,1628984455.394 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-14T23:40:55.394Z,1628984455.394 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 311.339996 m 
2021-08-14T23:40:55.394Z,1628984455.394 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-14T23:40:55.394Z,1628984455.394 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-14T23:40:55.787Z,1628984455.787 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-14T23:40:55.804Z,1628984455.804 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T23:40:55.804Z,1628984455.804 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-14T23:40:55.804Z,1628984455.804 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T23:40:56.247Z,1628984456.247 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T23:40:56.247Z,1628984456.247 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T23:40:56.252Z,1628984456.252 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T23:40:56.253Z,1628984456.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T23:40:56.253Z,1628984456.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T23:40:56.254Z,1628984456.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T23:40:56.254Z,1628984456.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T23:40:56.254Z,1628984456.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T23:40:56.254Z,1628984456.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T23:40:56.254Z,1628984456.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T23:40:56.254Z,1628984456.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T23:40:56.255Z,1628984456.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T23:40:56.255Z,1628984456.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T23:40:56.255Z,1628984456.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T23:40:56.260Z,1628984456.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T23:40:56.260Z,1628984456.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T23:40:56.261Z,1628984456.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-14T23:40:56.261Z,1628984456.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T23:40:56.262Z,1628984456.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-14T23:40:56.262Z,1628984456.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-14T23:40:56.262Z,1628984456.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T23:40:56.262Z,1628984456.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T23:40:56.263Z,1628984456.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 420.00 sec.
2021-08-14T23:40:56.268Z,1628984456.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T23:40:56.268Z,1628984456.268 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T23:40:56.269Z,1628984456.269 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T23:40:56.269Z,1628984456.269 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T23:40:56.269Z,1628984456.269 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T23:40:56.269Z,1628984456.269 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T23:40:56.269Z,1628984456.269 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T23:40:56.269Z,1628984456.269 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T23:40:56.270Z,1628984456.270 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-14T23:40:56.270Z,1628984456.270 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-14T23:40:56.600Z,1628984456.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 311.339996 m, bearing: 172.364659 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T23:40:56.601Z,1628984456.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 172.364659deg and heading rate command to 0 deg/s.
2021-08-14T23:40:57.523Z,1628984457.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:40:57.809Z,1628984457.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:40:57.809Z,1628984457.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:40:57.809Z,1628984457.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:40:57.811Z,1628984457.811 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:40:58.221Z,1628984458.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DE,000,016B6,188,80,80,7A,FF
2021-08-14T23:40:58.221Z,1628984458.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:40:58.221Z,1628984458.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:40:58.223Z,1628984458.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:40:58.648Z,1628984458.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:40:59.473Z,1628984459.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F5,000,013C3,189,80,80,65,FF
2021-08-14T23:40:59.473Z,1628984459.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:40:59.476Z,1628984459.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234059.40*53

2021-08-14T23:40:59.964Z,1628984459.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.040009 m, bearing: 161.126744 deg, deltaT: 4.990911 s, approachRate: -9.076497 m/s, LOS rate: -2.251676 deg/s, posRepo size: 2
2021-08-14T23:40:59.965Z,1628984459.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -2.251676 deg/s. Setting heading cmd to target bearing of 161.126744deg and heading rate command to 0 deg/s.
2021-08-14T23:41:02.342Z,1628984462.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:41:02.685Z,1628984462.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:41:02.685Z,1628984462.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:41:02.685Z,1628984462.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:41:02.686Z,1628984462.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:41:03.101Z,1628984463.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F5,000,013C3,189,80,80,65,FF
2021-08-14T23:41:03.101Z,1628984463.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:41:03.101Z,1628984463.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:41:03.103Z,1628984463.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:41:03.578Z,1628984463.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:41:04.365Z,1628984464.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234104.28*54

2021-08-14T23:41:05.181Z,1628984465.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,179,000,048D8,185,80,80,6B,FF
2021-08-14T23:41:05.181Z,1628984465.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:41:05.442Z,1628984465.442 [CTD_Seabird](ERROR): Failed to parse device response: .44
2021-08-14T23:41:05.659Z,1628984465.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1081.380005 m, bearing: 167.477891 deg, deltaT: 5.774308 s, approachRate: 141.201324 m/s, LOS rate: 1.099897 deg/s, posRepo size: 3
2021-08-14T23:41:05.661Z,1628984465.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1081.380005 m,
      bearing: 167.477891 deg,
      approachRate: 141.201324 m/s,
      LOS rate: 1.099897 deg/s,
      cmd update: 4.399590 deg/s,
      cmd heading: 161.126744 deg,
      new cmd heading: 161.126744 deg.

2021-08-14T23:41:08.130Z,1628984468.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:41:08.437Z,1628984468.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:41:08.437Z,1628984468.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:41:08.437Z,1628984468.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:41:08.438Z,1628984468.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:41:08.835Z,1628984468.835 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
179,000,048D8,185,80,80,6B,FF
2021-08-14T23:41:08.835Z,1628984468.835 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:41:08.835Z,1628984468.835 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:41:08.837Z,1628984468.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:41:09.242Z,1628984469.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:41:10.076Z,1628984470.076 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234110.02*59

2021-08-14T23:41:10.873Z,1628984470.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:41:12.497Z,1628984472.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,185,80,80,6B,FF
2021-08-14T23:41:12.497Z,1628984472.497 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,185,80,80,6B,FF
2021-08-14T23:41:12.498Z,1628984472.498 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:41:13.727Z,1628984473.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:41:14.099Z,1628984474.099 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:41:14.099Z,1628984474.099 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:41:14.099Z,1628984474.099 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:41:14.100Z,1628984474.100 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:41:14.507Z,1628984474.507 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,185,80,80,6B,FF
2021-08-14T23:41:14.507Z,1628984474.507 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:41:14.508Z,1628984474.508 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:41:14.510Z,1628984474.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:41:14.894Z,1628984474.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:41:15.732Z,1628984475.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,016F2,189,80,80,8D,FF
2021-08-14T23:41:15.733Z,1628984475.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:41:15.735Z,1628984475.735 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234115.69*51

2021-08-14T23:41:16.172Z,1628984476.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 314.940002 m, bearing: 107.930847 deg, deltaT: 10.480565 s, approachRate: -73.129646 m/s, LOS rate: -5.681663 deg/s, posRepo size: 4
2021-08-14T23:41:16.174Z,1628984476.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 314.940002 m,
      bearing: 107.930847 deg,
      approachRate: -73.129646 m/s,
      LOS rate: -5.681663 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 207.182558 deg,
      new cmd heading: 208.798180 deg.

2021-08-14T23:41:18.147Z,1628984478.147 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:41:18.561Z,1628984478.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:41:18.933Z,1628984478.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:41:18.933Z,1628984478.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:41:18.933Z,1628984478.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:41:18.934Z,1628984478.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:41:19.345Z,1628984479.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,016F2,189,80,80,8D,FF
2021-08-14T23:41:19.345Z,1628984479.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:41:19.345Z,1628984479.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:41:19.347Z,1628984479.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:41:19.748Z,1628984479.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:41:20.598Z,1628984480.598 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234120.52*5F

2021-08-14T23:41:21.420Z,1628984481.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:41:22.993Z,1628984482.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,8D,FF
2021-08-14T23:41:22.993Z,1628984482.993 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,8D,FF
2021-08-14T23:41:22.993Z,1628984482.993 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:41:24.244Z,1628984484.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:41:24.603Z,1628984484.603 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:41:24.603Z,1628984484.603 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:41:24.603Z,1628984484.603 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:41:24.608Z,1628984484.608 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:41:25.017Z,1628984485.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,8D,FF
2021-08-14T23:41:25.017Z,1628984485.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:41:25.017Z,1628984485.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:41:25.019Z,1628984485.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:41:25.404Z,1628984485.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:41:26.235Z,1628984486.235 [Micromodem](INFO): Nmea in: $SNTTA,0.391411,0.391392,,,234126.20*50

2021-08-14T23:41:27.092Z,1628984487.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:41:28.637Z,1628984488.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,8D,FF
2021-08-14T23:41:28.637Z,1628984488.637 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,8D,FF
2021-08-14T23:41:28.638Z,1628984488.638 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:41:29.869Z,1628984489.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:41:30.274Z,1628984490.274 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:41:30.274Z,1628984490.274 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:41:30.274Z,1628984490.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:41:30.275Z,1628984490.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:41:30.669Z,1628984490.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,8D,FF
2021-08-14T23:41:30.669Z,1628984490.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:41:30.669Z,1628984490.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:41:30.671Z,1628984490.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:41:31.073Z,1628984491.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:41:31.085Z,1628984491.085 [PowerOnly](INFO): Powering down loadControl
2021-08-14T23:41:31.905Z,1628984491.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,01739,189,80,80,86,FF
2021-08-14T23:41:31.906Z,1628984491.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:41:31.917Z,1628984491.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234131.85*55

2021-08-14T23:41:32.349Z,1628984492.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 319.199982 m, bearing: 155.990401 deg, deltaT: 16.191141 s, approachRate: 0.263106 m/s, LOS rate: 2.968262 deg/s, posRepo size: 4
2021-08-14T23:41:32.351Z,1628984492.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 319.199982 m,
      bearing: 155.990401 deg,
      approachRate: 0.263106 m/s,
      LOS rate: 2.968262 deg/s,
      cmd update: 11.873049 deg/s,
      cmd heading: 12.792237 deg,
      new cmd heading: 8.656365 deg.

2021-08-14T23:41:34.747Z,1628984494.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:41:35.141Z,1628984495.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:41:35.141Z,1628984495.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:41:35.142Z,1628984495.142 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:41:35.142Z,1628984495.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:41:35.530Z,1628984495.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,01739,189,80,80,86,FF
2021-08-14T23:41:35.530Z,1628984495.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:41:35.530Z,1628984495.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:41:35.532Z,1628984495.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:41:36.020Z,1628984496.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:41:36.785Z,1628984496.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234136.71*59

2021-08-14T23:41:37.577Z,1628984497.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,03FFF,188,80,80,66,FF
2021-08-14T23:41:37.578Z,1628984497.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:41:38.055Z,1628984498.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 945.480042 m, bearing: 104.510316 deg, deltaT: 5.618506 s, approachRate: 111.467361 m/s, LOS rate: -9.162593 deg/s, posRepo size: 4
2021-08-14T23:41:38.089Z,1628984498.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 945.480042 m,
      bearing: 104.510316 deg,
      approachRate: 111.467361 m/s,
      LOS rate: -9.162593 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 79.500869 deg,
      new cmd heading: 84.643835 deg.

2021-08-14T23:41:40.469Z,1628984500.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:41:40.805Z,1628984500.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:41:40.805Z,1628984500.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:41:40.805Z,1628984500.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:41:40.806Z,1628984500.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:41:41.209Z,1628984501.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,03FFF,188,80,80,66,FF
2021-08-14T23:41:41.209Z,1628984501.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:41:41.209Z,1628984501.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:41:41.211Z,1628984501.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:41:41.617Z,1628984501.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:41:42.024Z,1628984502.024 [Micromodem](INFO): Nmea in: $SNTTA,0.258356,0.257981,,,234142.39*59

2021-08-14T23:41:42.435Z,1628984502.435 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAF,000,01747,189,80,80,78,FF
2021-08-14T23:41:42.436Z,1628984502.436 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:41:42.870Z,1628984502.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 320.040009 m, bearing: 180.236193 deg, deltaT: 4.828371 s, approachRate: -129.534378 m/s, LOS rate: 15.683525 deg/s, posRepo size: 4
2021-08-14T23:41:42.871Z,1628984502.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.683525 deg/s. Setting heading cmd to target bearing of 180.236193deg and heading rate command to 0 deg/s.
2021-08-14T23:41:45.311Z,1628984505.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:41:45.673Z,1628984505.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:41:45.673Z,1628984505.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:41:45.673Z,1628984505.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:41:45.674Z,1628984505.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:41:46.053Z,1628984506.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAF,000,01747,189,80,80,78,FF
2021-08-14T23:41:46.053Z,1628984506.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:41:46.054Z,1628984506.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:41:46.055Z,1628984506.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:41:46.474Z,1628984506.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:41:47.329Z,1628984507.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01731,189,80,80,60,FF
2021-08-14T23:41:47.330Z,1628984507.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:41:47.339Z,1628984507.339 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234147.23*58

2021-08-14T23:41:47.734Z,1628984507.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 318.720001 m, bearing: 70.603303 deg, deltaT: 4.970734 s, approachRate: -0.265556 m/s, LOS rate: -22.055675 deg/s, posRepo size: 4
2021-08-14T23:41:47.735Z,1628984507.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.055675 deg/s. Setting heading cmd to target bearing of 70.603303deg and heading rate command to 0 deg/s.
2021-08-14T23:41:50.139Z,1628984510.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:41:50.536Z,1628984510.536 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:41:50.536Z,1628984510.536 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:41:50.536Z,1628984510.536 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:41:50.537Z,1628984510.537 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:41:50.909Z,1628984510.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01731,189,80,80,60,FF
2021-08-14T23:41:50.909Z,1628984510.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:41:50.910Z,1628984510.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:41:50.911Z,1628984510.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:41:51.343Z,1628984511.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:41:52.126Z,1628984512.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,338,000,01715,189,80,80,90,FF
2021-08-14T23:41:52.127Z,1628984512.127 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:41:52.130Z,1628984512.130 [Micromodem](INFO): Nmea in: $SNTTA,0.446488,0.446475,,,234152.09*56

2021-08-14T23:41:52.587Z,1628984512.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 317.039978 m, bearing: 74.877492 deg, deltaT: 4.784870 s, approachRate: -0.351112 m/s, LOS rate: 0.893272 deg/s, posRepo size: 4
2021-08-14T23:41:52.589Z,1628984512.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 317.039978 m,
      bearing: 74.877492 deg,
      approachRate: -0.351112 m/s,
      LOS rate: 0.893272 deg/s,
      cmd update: 3.573087 deg/s,
      cmd heading: 70.603303 deg,
      new cmd heading: 70.603303 deg.

2021-08-14T23:41:54.964Z,1628984514.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:41:55.381Z,1628984515.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:41:55.381Z,1628984515.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:41:55.382Z,1628984515.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:41:55.383Z,1628984515.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:41:55.762Z,1628984515.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
338,000,01715,189,80,80,90,FF
2021-08-14T23:41:55.762Z,1628984515.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:41:55.762Z,1628984515.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:41:55.764Z,1628984515.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:41:56.191Z,1628984516.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:41:56.565Z,1628984516.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,222,000,009F0,188,80,80,73,FF
2021-08-14T23:41:56.565Z,1628984516.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:41:57.017Z,1628984517.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234156.94*54

2021-08-14T23:41:57.048Z,1628984517.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.139999 m, bearing: 73.162569 deg, deltaT: 4.383196 s, approachRate: -46.062275 m/s, LOS rate: -0.391250 deg/s, posRepo size: 4
2021-08-14T23:41:57.050Z,1628984517.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.139999 m,
      bearing: 73.162569 deg,
      approachRate: -46.062275 m/s,
      LOS rate: -0.391250 deg/s,
      cmd update: -1.564999 deg/s,
      cmd heading: 86.277560 deg,
      new cmd heading: 87.902672 deg.

2021-08-14T23:41:59.455Z,1628984519.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:41:59.793Z,1628984519.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:41:59.793Z,1628984519.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:41:59.793Z,1628984519.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:41:59.794Z,1628984519.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:42:00.215Z,1628984520.215 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
222,000,009F0,188,80,80,73,FF
2021-08-14T23:42:00.215Z,1628984520.215 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:42:00.215Z,1628984520.215 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:42:00.217Z,1628984520.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:42:00.640Z,1628984520.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:42:01.025Z,1628984521.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17B,000,00607,186,80,80,9E,FF
2021-08-14T23:42:01.026Z,1628984521.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:42:01.453Z,1628984521.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234201.39*52

2021-08-14T23:42:01.476Z,1628984521.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.080002 m, bearing: 71.679782 deg, deltaT: 4.448685 s, approachRate: -13.500618 m/s, LOS rate: -0.333309 deg/s, posRepo size: 4
2021-08-14T23:42:01.478Z,1628984521.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.080002 m,
      bearing: 71.679782 deg,
      approachRate: -13.500618 m/s,
      LOS rate: -0.333309 deg/s,
      cmd update: -1.333236 deg/s,
      cmd heading: 79.314869 deg,
      new cmd heading: 78.635867 deg.

2021-08-14T23:42:03.881Z,1628984523.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:42:04.238Z,1628984524.238 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:42:04.238Z,1628984524.238 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:42:04.238Z,1628984524.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:42:04.239Z,1628984524.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:42:04.645Z,1628984524.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17B,000,00607,186,80,80,9E,FF
2021-08-14T23:42:04.645Z,1628984524.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:42:04.645Z,1628984524.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:42:04.647Z,1628984524.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:42:05.063Z,1628984525.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:42:05.924Z,1628984525.924 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,01694,184,80,80,60,FF
2021-08-14T23:42:05.926Z,1628984525.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:42:05.960Z,1628984525.960 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234205.82*56

2021-08-14T23:42:06.304Z,1628984526.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 309.299988 m, bearing: 76.313171 deg, deltaT: 4.981487 s, approachRate: 51.032951 m/s, LOS rate: 0.930122 deg/s, posRepo size: 4
2021-08-14T23:42:06.306Z,1628984526.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.299988 m,
      bearing: 76.313171 deg,
      approachRate: 51.032951 m/s,
      LOS rate: 0.930122 deg/s,
      cmd update: 3.720486 deg/s,
      cmd heading: 72.673518 deg,
      new cmd heading: 72.300185 deg.

2021-08-14T23:42:08.723Z,1628984528.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:42:09.085Z,1628984529.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:42:09.085Z,1628984529.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:42:09.086Z,1628984529.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:42:09.087Z,1628984529.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:42:09.497Z,1628984529.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,01694,184,80,80,60,FF
2021-08-14T23:42:09.497Z,1628984529.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:42:09.497Z,1628984529.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:42:09.499Z,1628984529.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:42:09.935Z,1628984529.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:42:10.727Z,1628984530.727 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234210.68*56

2021-08-14T23:42:11.575Z,1628984531.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:42:13.150Z,1628984533.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,184,80,80,60,FF
2021-08-14T23:42:13.150Z,1628984533.150 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,184,80,80,60,FF
2021-08-14T23:42:13.150Z,1628984533.150 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:42:14.417Z,1628984534.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:42:14.745Z,1628984534.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:42:14.745Z,1628984534.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:42:14.745Z,1628984534.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:42:14.746Z,1628984534.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:42:15.149Z,1628984535.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,184,80,80,60,FF
2021-08-14T23:42:15.149Z,1628984535.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:42:15.149Z,1628984535.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:42:15.151Z,1628984535.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:42:15.552Z,1628984535.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:42:16.003Z,1628984536.003 [Micromodem](INFO): Nmea in: $SNTTA,0.287429,0.327055,,,234216.33*5A

2021-08-14T23:42:16.030Z,1628984536.030 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,234217,AUV,2.1.40*7A
 expected 2B
2021-08-14T23:42:16.361Z,1628984536.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F28,000,01643,187,80,80,5F,FF
2021-08-14T23:42:16.362Z,1628984536.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:42:16.804Z,1628984536.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 304.440002 m, bearing: 79.542860 deg, deltaT: 10.441668 s, approachRate: -0.465441 m/s, LOS rate: 0.309308 deg/s, posRepo size: 4
2021-08-14T23:42:16.806Z,1628984536.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.440002 m,
      bearing: 79.542860 deg,
      approachRate: -0.465441 m/s,
      LOS rate: 0.309308 deg/s,
      cmd update: 1.237231 deg/s,
      cmd heading: 111.507587 deg,
      new cmd heading: 112.781909 deg.

2021-08-14T23:42:19.228Z,1628984539.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:42:19.597Z,1628984539.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:42:19.597Z,1628984539.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:42:19.597Z,1628984539.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:42:19.598Z,1628984539.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:42:20.025Z,1628984540.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F28,000,01643,187,80,80,5F,FF
2021-08-14T23:42:20.025Z,1628984540.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:42:20.025Z,1628984540.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:42:20.027Z,1628984540.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:42:20.404Z,1628984540.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:42:21.219Z,1628984541.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,015FC,184,80,80,95,FF
2021-08-14T23:42:21.225Z,1628984541.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:42:21.234Z,1628984541.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234221.21*59

2021-08-14T23:42:21.664Z,1628984541.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 300.179993 m, bearing: 77.201990 deg, deltaT: 4.854882 s, approachRate: -0.877469 m/s, LOS rate: -0.482168 deg/s, posRepo size: 4
2021-08-14T23:42:21.666Z,1628984541.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 300.179993 m,
      bearing: 77.201990 deg,
      approachRate: -0.877469 m/s,
      LOS rate: -0.482168 deg/s,
      cmd update: -1.928673 deg/s,
      cmd heading: 117.504708 deg,
      new cmd heading: 117.943769 deg.

2021-08-14T23:42:24.084Z,1628984544.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:42:24.437Z,1628984544.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:42:24.437Z,1628984544.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:42:24.437Z,1628984544.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:42:24.438Z,1628984544.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:42:24.857Z,1628984544.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,015FC,184,80,80,95,FF
2021-08-14T23:42:24.857Z,1628984544.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:42:24.857Z,1628984544.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:42:24.859Z,1628984544.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:42:25.253Z,1628984545.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:42:26.069Z,1628984546.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E3,000,015DD,186,80,80,A2,FF
2021-08-14T23:42:26.069Z,1628984546.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:42:26.073Z,1628984546.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234226.04*59

2021-08-14T23:42:26.553Z,1628984546.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 298.319977 m, bearing: 77.287730 deg, deltaT: 4.822762 s, approachRate: -0.385674 m/s, LOS rate: 0.017778 deg/s, posRepo size: 4
2021-08-14T23:42:26.555Z,1628984546.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 298.319977 m,
      bearing: 77.287730 deg,
      approachRate: -0.385674 m/s,
      LOS rate: 0.017778 deg/s,
      cmd update: 0.071112 deg/s,
      cmd heading: 108.195950 deg,
      new cmd heading: 107.389917 deg.

2021-08-14T23:42:28.968Z,1628984548.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:42:29.286Z,1628984549.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:42:29.286Z,1628984549.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:42:29.287Z,1628984549.287 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:42:29.287Z,1628984549.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:42:29.694Z,1628984549.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E3,000,015DD,186,80,80,A2,FF
2021-08-14T23:42:29.694Z,1628984549.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:42:29.694Z,1628984549.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:42:29.696Z,1628984549.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:42:30.092Z,1628984550.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:42:30.918Z,1628984550.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,370,000,015B3,189,80,80,89,FF
2021-08-14T23:42:30.918Z,1628984550.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:42:30.921Z,1628984550.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234230.87*55

2021-08-14T23:42:31.402Z,1628984551.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 295.799988 m, bearing: 72.387533 deg, deltaT: 4.824763 s, approachRate: -0.522303 m/s, LOS rate: -1.015635 deg/s, posRepo size: 4
2021-08-14T23:42:31.408Z,1628984551.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.799988 m,
      bearing: 72.387533 deg,
      approachRate: -0.522303 m/s,
      LOS rate: -1.015635 deg/s,
      cmd update: -4.062538 deg/s,
      cmd heading: 108.539310 deg,
      new cmd heading: 108.570450 deg.

2021-08-14T23:42:33.763Z,1628984553.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:42:34.137Z,1628984554.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:42:34.137Z,1628984554.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:42:34.137Z,1628984554.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:42:34.138Z,1628984554.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:42:34.557Z,1628984554.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
370,000,015B3,189,80,80,89,FF
2021-08-14T23:42:34.557Z,1628984554.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:42:34.557Z,1628984554.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:42:34.559Z,1628984554.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:42:34.952Z,1628984554.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:42:35.769Z,1628984555.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,01597,18A,80,80,6D,FF
2021-08-14T23:42:35.769Z,1628984555.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:42:35.772Z,1628984555.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234235.74*5C

2021-08-14T23:42:36.209Z,1628984556.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.119995 m, bearing: 74.592837 deg, deltaT: 4.830848 s, approachRate: -0.347764 m/s, LOS rate: 0.456505 deg/s, posRepo size: 4
2021-08-14T23:42:36.211Z,1628984556.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.119995 m,
      bearing: 74.592837 deg,
      approachRate: -0.347764 m/s,
      LOS rate: 0.456505 deg/s,
      cmd update: 1.826018 deg/s,
      cmd heading: 88.897034 deg,
      new cmd heading: 87.230150 deg.

2021-08-14T23:42:38.610Z,1628984558.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:42:38.990Z,1628984558.990 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:42:38.990Z,1628984558.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:42:38.991Z,1628984558.991 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:42:38.992Z,1628984558.992 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:42:39.413Z,1628984559.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,01597,18A,80,80,6D,FF
2021-08-14T23:42:39.413Z,1628984559.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:42:39.414Z,1628984559.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:42:39.415Z,1628984559.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:42:39.801Z,1628984559.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:42:40.603Z,1628984560.603 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32E,000,01579,189,80,80,7A,FF
2021-08-14T23:42:40.604Z,1628984560.604 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:42:40.611Z,1628984560.611 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234240.59*51

2021-08-14T23:42:41.045Z,1628984561.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 292.319977 m, bearing: 66.409888 deg, deltaT: 4.887214 s, approachRate: -0.368312 m/s, LOS rate: -1.674359 deg/s, posRepo size: 4
2021-08-14T23:42:41.047Z,1628984561.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 292.319977 m,
      bearing: 66.409888 deg,
      approachRate: -0.368312 m/s,
      LOS rate: -1.674359 deg/s,
      cmd update: -6.697435 deg/s,
      cmd heading: 97.801864 deg,
      new cmd heading: 98.477392 deg.

2021-08-14T23:42:43.474Z,1628984563.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:42:43.835Z,1628984563.835 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:42:43.835Z,1628984563.835 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:42:43.835Z,1628984563.835 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:42:43.836Z,1628984563.836 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:42:44.231Z,1628984564.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32E,000,01579,189,80,80,7A,FF
2021-08-14T23:42:44.231Z,1628984564.231 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:42:44.231Z,1628984564.231 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:42:44.233Z,1628984564.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:42:44.649Z,1628984564.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:42:45.481Z,1628984565.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CA,000,0153E,186,80,80,A0,FF
2021-08-14T23:42:45.481Z,1628984565.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:42:45.485Z,1628984565.485 [Micromodem](INFO): Nmea in: $SNTTA,0.271319,,,,234245.41*4C

2021-08-14T23:42:45.925Z,1628984565.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 288.779999 m, bearing: 75.364553 deg, deltaT: 4.824725 s, approachRate: -0.733716 m/s, LOS rate: 1.855995 deg/s, posRepo size: 4
2021-08-14T23:42:45.948Z,1628984565.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 288.779999 m,
      bearing: 75.364553 deg,
      approachRate: -0.733716 m/s,
      LOS rate: 1.855995 deg/s,
      cmd update: 7.423979 deg/s,
      cmd heading: 65.417022 deg,
      new cmd heading: 62.728424 deg.

2021-08-14T23:42:48.346Z,1628984568.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:42:48.685Z,1628984568.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:42:48.685Z,1628984568.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:42:48.686Z,1628984568.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:42:48.687Z,1628984568.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:42:49.081Z,1628984569.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CA,000,0153E,186,80,80,A0,FF
2021-08-14T23:42:49.081Z,1628984569.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:42:49.081Z,1628984569.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:42:49.083Z,1628984569.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:42:49.508Z,1628984569.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:42:50.297Z,1628984570.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,0151B,186,80,80,B5,FF
2021-08-14T23:42:50.297Z,1628984570.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:42:50.301Z,1628984570.301 [Micromodem](INFO): Nmea in: $SNTTA,0.190928,0.359727,,,234250.26*5E

2021-08-14T23:42:50.768Z,1628984570.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 286.679993 m, bearing: 75.979721 deg, deltaT: 4.856772 s, approachRate: -0.432387 m/s, LOS rate: 0.126662 deg/s, posRepo size: 4
2021-08-14T23:42:50.770Z,1628984570.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 286.679993 m,
      bearing: 75.979721 deg,
      approachRate: -0.432387 m/s,
      LOS rate: 0.126662 deg/s,
      cmd update: 0.506647 deg/s,
      cmd heading: 101.442914 deg,
      new cmd heading: 104.415675 deg.

2021-08-14T23:42:53.201Z,1628984573.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:42:53.529Z,1628984573.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:42:53.529Z,1628984573.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:42:53.529Z,1628984573.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:42:53.530Z,1628984573.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:42:53.997Z,1628984573.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,0151B,186,80,80,B5,FF
2021-08-14T23:42:53.997Z,1628984573.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:42:53.997Z,1628984573.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:42:53.999Z,1628984573.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:42:54.452Z,1628984574.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:42:55.245Z,1628984575.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,014F4,187,80,80,D2,FF
2021-08-14T23:42:55.245Z,1628984575.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:42:55.248Z,1628984575.248 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234255.18*50

2021-08-14T23:42:55.703Z,1628984575.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 284.339996 m, bearing: 70.287783 deg, deltaT: 4.934771 s, approachRate: -0.474185 m/s, LOS rate: -1.153435 deg/s, posRepo size: 4
2021-08-14T23:42:55.710Z,1628984575.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.339996 m,
      bearing: 70.287783 deg,
      approachRate: -0.474185 m/s,
      LOS rate: -1.153435 deg/s,
      cmd update: -4.613740 deg/s,
      cmd heading: 103.943148 deg,
      new cmd heading: 104.148541 deg.

2021-08-14T23:42:58.163Z,1628984578.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:42:58.513Z,1628984578.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:42:58.513Z,1628984578.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:42:58.513Z,1628984578.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:42:58.514Z,1628984578.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:42:58.881Z,1628984578.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,014F4,187,80,80,D2,FF
2021-08-14T23:42:58.881Z,1628984578.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:42:58.882Z,1628984578.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:42:58.883Z,1628984578.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:42:59.285Z,1628984579.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:43:00.125Z,1628984580.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,218,000,014D5,187,80,80,A5,FF
2021-08-14T23:43:00.126Z,1628984580.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:43:00.129Z,1628984580.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234300.06*5E

2021-08-14T23:43:00.532Z,1628984580.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 282.479980 m, bearing: 68.641222 deg, deltaT: 4.905706 s, approachRate: -0.379154 m/s, LOS rate: -0.335642 deg/s, posRepo size: 4
2021-08-14T23:43:00.534Z,1628984580.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.479980 m,
      bearing: 68.641222 deg,
      approachRate: -0.379154 m/s,
      LOS rate: -0.335642 deg/s,
      cmd update: -1.342568 deg/s,
      cmd heading: 81.309274 deg,
      new cmd heading: 79.797393 deg.

2021-08-14T23:43:02.190Z,1628984582.190 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T23:43:02.190Z,1628984582.190 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T23:43:02.190Z,1628984582.190 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T23:43:02.190Z,1628984582.190 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T23:43:02.191Z,1628984582.191 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T23:43:02.191Z,1628984582.191 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T23:43:02.192Z,1628984582.192 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-14T23:43:03.158Z,1628984583.158 [Micromodem](INFO): Outgoing frame #1, 59 bytes: 06411861180000005D00000400260000000000000000151D80030C5669C08C799864BA0C31A3B3C2413F7E01122ECA337CC85D0B9FE11BEA7C051F
2021-08-14T23:43:03.158Z,1628984583.158 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T23:43:03.241Z,1628984583.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:43:03.241Z,1628984583.241 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T23:43:03.242Z,1628984583.242 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T23:43:03.242Z,1628984583.242 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T23:43:03.242Z,1628984583.242 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T23:43:03.242Z,1628984583.242 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T23:43:03.534Z,1628984583.534 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:43:03.534Z,1628984583.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:43:03.534Z,1628984583.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:43:03.535Z,1628984583.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:43:03.542Z,1628984583.542 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T23:43:03.547Z,1628984583.547 [Micromodem](INFO): Nmea in: $CADRQ,234304,1,10,0,64,1*74

2021-08-14T23:43:03.547Z,1628984583.547 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861180000005D00000400260000000000000000151D80030C5669C08C799864BA0C31A3B3C2413F7E01122ECA337CC85D0B9FE11BEA7C051F*3F

2021-08-14T23:43:03.949Z,1628984583.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
218,000,014D5,187,80,80,A5,FF
2021-08-14T23:43:03.950Z,1628984583.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:43:03.950Z,1628984583.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:43:03.958Z,1628984583.958 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,59*47

2021-08-14T23:43:03.959Z,1628984583.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:43:04.345Z,1628984584.345 [Micromodem](INFO): Nmea in: $CATXP,59*7E

2021-08-14T23:43:04.346Z,1628984584.346 [Micromodem](ERROR): Response from modem unexpected: $CATXP,59*7E

2021-08-14T23:43:05.550Z,1628984585.550 [Micromodem](INFO): Nmea in: $CATXF,59*68

2021-08-14T23:43:05.551Z,1628984585.551 [Micromodem](ERROR): Response from modem unexpected: $CATXF,59*68

2021-08-14T23:43:06.020Z,1628984586.020 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,234304.746574,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*5F

2021-08-14T23:43:06.021Z,1628984586.021 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,234304.746574,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*5F

2021-08-14T23:43:06.101Z,1628984586.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:43:08.011Z,1628984588.011 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T23:43:08.016Z,1628984588.016 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814234307.938957,06,1561,31,0096,0150,74,01,01,00,01,1,010,001,0,4,1,0,150,6.7,1.67,02,1.33,-01,-0.64,47,14500,4000*62

2021-08-14T23:43:08.016Z,1628984588.016 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814234307.938957,06,1561,31,0096,0150,74,01,01,00,01,1,010,001,0,4,1,0,150,6.7,1.67,02,1.33,-01,-0.64,47,14500,4000*62

2021-08-14T23:43:08.801Z,1628984588.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:43:09.584Z,1628984589.584 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.048800
2021-08-14T23:43:11.686Z,1628984591.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:43:12.020Z,1628984592.020 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:43:12.020Z,1628984592.020 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:43:12.021Z,1628984592.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:43:12.022Z,1628984592.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:43:12.426Z,1628984592.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
218,000,014D5,187,80,80,A5,FF
2021-08-14T23:43:12.427Z,1628984592.427 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:43:12.427Z,1628984592.427 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:43:14.490Z,1628984594.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:43:15.230Z,1628984595.230 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:43:15.637Z,1628984595.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:43:16.480Z,1628984596.480 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,0144D,186,80,80,91,FF
2021-08-14T23:43:16.480Z,1628984596.480 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:43:16.485Z,1628984596.485 [Micromodem](INFO): Nmea in: $SNTTA,0.282474,,,,234316.41*4B

2021-08-14T23:43:16.885Z,1628984596.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 274.320007 m, bearing: 79.584879 deg, deltaT: 16.375089 s, approachRate: -0.498316 m/s, LOS rate: 0.668311 deg/s, posRepo size: 4
2021-08-14T23:43:16.887Z,1628984596.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 274.320007 m,
      bearing: 79.584879 deg,
      approachRate: -0.498316 m/s,
      LOS rate: 0.668311 deg/s,
      cmd update: 2.673245 deg/s,
      cmd heading: 59.329776 deg,
      new cmd heading: 58.914450 deg.

2021-08-14T23:43:19.304Z,1628984599.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:43:19.685Z,1628984599.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:43:19.685Z,1628984599.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:43:19.685Z,1628984599.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:43:19.686Z,1628984599.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:43:20.085Z,1628984600.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,0144D,186,80,80,91,FF
2021-08-14T23:43:20.085Z,1628984600.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:43:20.086Z,1628984600.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:43:20.087Z,1628984600.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:43:20.501Z,1628984600.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:43:21.321Z,1628984601.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB1,000,01423,189,80,80,57,FF
2021-08-14T23:43:21.322Z,1628984601.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:43:21.325Z,1628984601.325 [Micromodem](INFO): Nmea in: $SNTTA,0.183748,,,,234321.27*41

2021-08-14T23:43:21.739Z,1628984601.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.799988 m, bearing: 85.464989 deg, deltaT: 4.848447 s, approachRate: -0.519758 m/s, LOS rate: 1.212782 deg/s, posRepo size: 4
2021-08-14T23:43:21.741Z,1628984601.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.799988 m,
      bearing: 85.464989 deg,
      approachRate: -0.519758 m/s,
      LOS rate: 1.212782 deg/s,
      cmd update: 4.851129 deg/s,
      cmd heading: 72.300829 deg,
      new cmd heading: 73.133636 deg.

2021-08-14T23:43:24.177Z,1628984604.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:43:24.536Z,1628984604.536 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:43:24.536Z,1628984604.536 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:43:24.537Z,1628984604.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:43:24.538Z,1628984604.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:43:24.616Z,1628984604.616 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.255497
2021-08-14T23:43:24.925Z,1628984604.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB1,000,01423,189,80,80,57,FF
2021-08-14T23:43:24.925Z,1628984604.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:43:24.925Z,1628984604.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:43:24.927Z,1628984604.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:43:25.341Z,1628984605.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:43:26.169Z,1628984606.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,013F3,186,80,80,7D,FF
2021-08-14T23:43:26.169Z,1628984606.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:43:26.172Z,1628984606.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234326.11*5C

2021-08-14T23:43:26.578Z,1628984606.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.919983 m, bearing: 74.181319 deg, deltaT: 4.776742 s, approachRate: -0.602922 m/s, LOS rate: -2.362211 deg/s, posRepo size: 4
2021-08-14T23:43:26.596Z,1628984606.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 268.919983 m,
      bearing: 74.181319 deg,
      approachRate: -0.602922 m/s,
      LOS rate: -2.362211 deg/s,
      cmd update: -9.448843 deg/s,
      cmd heading: 95.489569 deg,
      new cmd heading: 97.288027 deg.

2021-08-14T23:43:29.023Z,1628984609.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:43:29.425Z,1628984609.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:43:29.425Z,1628984609.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:43:29.425Z,1628984609.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:43:29.426Z,1628984609.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:43:29.813Z,1628984609.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,013F3,186,80,80,7D,FF
2021-08-14T23:43:29.813Z,1628984609.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:43:29.814Z,1628984609.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:43:29.815Z,1628984609.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:43:30.217Z,1628984610.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:43:31.053Z,1628984611.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,013C3,186,80,80,7C,FF
2021-08-14T23:43:31.054Z,1628984611.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:43:31.057Z,1628984611.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234331.00*5A

2021-08-14T23:43:31.512Z,1628984611.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.040009 m, bearing: 75.083306 deg, deltaT: 4.897222 s, approachRate: -0.588083 m/s, LOS rate: 0.184184 deg/s, posRepo size: 4
2021-08-14T23:43:31.514Z,1628984611.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 266.040009 m,
      bearing: 75.083306 deg,
      approachRate: -0.588083 m/s,
      LOS rate: 0.184184 deg/s,
      cmd update: 0.736734 deg/s,
      cmd heading: 49.330648 deg,
      new cmd heading: 45.596173 deg.

2021-08-14T23:43:33.972Z,1628984613.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:43:34.258Z,1628984614.258 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:43:34.258Z,1628984614.258 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:43:34.258Z,1628984614.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:43:34.259Z,1628984614.259 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:43:34.658Z,1628984614.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,013C3,186,80,80,7C,FF
2021-08-14T23:43:34.658Z,1628984614.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:43:34.658Z,1628984614.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:43:34.660Z,1628984614.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:43:35.068Z,1628984615.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:43:35.939Z,1628984615.939 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,0138E,186,80,80,71,FF
2021-08-14T23:43:35.944Z,1628984615.944 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:43:35.954Z,1628984615.954 [Micromodem](INFO): Nmea in: $SNTTA,0.180687,,,,234335.84*4C

2021-08-14T23:43:36.348Z,1628984616.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.859985 m, bearing: 74.153622 deg, deltaT: 4.893361 s, approachRate: -0.649865 m/s, LOS rate: -0.189989 deg/s, posRepo size: 4
2021-08-14T23:43:36.350Z,1628984616.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.859985 m,
      bearing: 74.153622 deg,
      approachRate: -0.649865 m/s,
      LOS rate: -0.189989 deg/s,
      cmd update: -0.759956 deg/s,
      cmd heading: 52.941776 deg,
      new cmd heading: 53.202417 deg.

2021-08-14T23:43:36.733Z,1628984616.733 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T23:43:38.770Z,1628984618.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:43:39.129Z,1628984619.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:43:39.129Z,1628984619.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:43:39.130Z,1628984619.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:43:39.131Z,1628984619.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:43:39.538Z,1628984619.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,0138E,186,80,80,71,FF
2021-08-14T23:43:39.539Z,1628984619.539 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:43:39.539Z,1628984619.539 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:43:39.541Z,1628984619.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:43:40.032Z,1628984620.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:43:40.823Z,1628984620.823 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,0135A,186,80,80,8D,FF
2021-08-14T23:43:40.823Z,1628984620.823 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:43:41.482Z,1628984621.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 259.739990 m, bearing: 69.661673 deg, deltaT: 5.020440 s, approachRate: -0.621459 m/s, LOS rate: -0.894732 deg/s, posRepo size: 4
2021-08-14T23:43:41.484Z,1628984621.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.739990 m,
      bearing: 69.661673 deg,
      approachRate: -0.621459 m/s,
      LOS rate: -0.894732 deg/s,
      cmd update: -3.578929 deg/s,
      cmd heading: 49.147672 deg,
      new cmd heading: 48.771023 deg.

2021-08-14T23:43:43.963Z,1628984623.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:43:44.282Z,1628984624.282 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:43:44.282Z,1628984624.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:43:44.282Z,1628984624.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:43:44.283Z,1628984624.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:43:44.693Z,1628984624.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,0135A,186,80,80,8D,FF
2021-08-14T23:43:44.693Z,1628984624.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:43:44.693Z,1628984624.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:43:44.695Z,1628984624.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:43:45.132Z,1628984625.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:43:45.977Z,1628984625.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,0132F,188,80,80,98,FF
2021-08-14T23:43:45.978Z,1628984625.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:43:45.980Z,1628984625.980 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234345.87*56

2021-08-14T23:43:46.430Z,1628984626.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 257.159973 m, bearing: 71.748473 deg, deltaT: 5.050689 s, approachRate: -0.510825 m/s, LOS rate: 0.413171 deg/s, posRepo size: 4
2021-08-14T23:43:46.433Z,1628984626.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 257.159973 m,
      bearing: 71.748473 deg,
      approachRate: -0.510825 m/s,
      LOS rate: 0.413171 deg/s,
      cmd update: 1.652686 deg/s,
      cmd heading: 30.969317 deg,
      new cmd heading: 29.665087 deg.

2021-08-14T23:43:48.821Z,1628984628.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:43:49.176Z,1628984629.176 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:43:49.177Z,1628984629.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:43:49.177Z,1628984629.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:43:49.178Z,1628984629.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:43:49.569Z,1628984629.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,0132F,188,80,80,98,FF
2021-08-14T23:43:49.569Z,1628984629.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:43:49.569Z,1628984629.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:43:49.571Z,1628984629.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:43:49.996Z,1628984629.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:43:50.841Z,1628984630.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C38,000,01304,189,80,80,A9,FF
2021-08-14T23:43:50.841Z,1628984630.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:43:50.844Z,1628984630.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234350.75*5F

2021-08-14T23:43:51.228Z,1628984631.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.579987 m, bearing: 84.753147 deg, deltaT: 4.819557 s, approachRate: -0.535316 m/s, LOS rate: 2.698313 deg/s, posRepo size: 4
2021-08-14T23:43:51.230Z,1628984631.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.579987 m,
      bearing: 84.753147 deg,
      approachRate: -0.535316 m/s,
      LOS rate: 2.698313 deg/s,
      cmd update: 10.793252 deg/s,
      cmd heading: 38.940458 deg,
      new cmd heading: 39.500702 deg.

2021-08-14T23:43:52.608Z,1628984632.608 [Radio_Surface](INFO): Powering down
2021-08-14T23:43:53.012Z,1628984633.012 [Radio_Surface](FAULT): LCB fault: LCB Watchdog Reset.
2021-08-14T23:43:53.013Z,1628984633.013 [Radio_Surface] Hardware Fault, FailCount= 1
2021-08-14T23:43:53.013Z,1628984633.013 [Radio_Surface](ERROR): Hardware Fault
2021-08-14T23:43:53.020Z,1628984633.020 [CBIT](ERROR): Hardware Fault in component: Radio_Surface
2021-08-14T23:43:53.436Z,1628984633.436 [CBIT](INFO): Clearing failed state for component Radio_Surface
2021-08-14T23:43:53.436Z,1628984633.436 [Radio_Surface] No Fault, FailCount= 1
2021-08-14T23:43:53.646Z,1628984633.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:43:53.820Z,1628984633.820 [Radio_Surface](INFO): Powering up
2021-08-14T23:43:54.021Z,1628984634.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:43:54.021Z,1628984634.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:43:54.021Z,1628984634.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:43:54.022Z,1628984634.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:43:54.458Z,1628984634.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C38,000,01304,189,80,80,A9,FF
2021-08-14T23:43:54.458Z,1628984634.458 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:43:54.458Z,1628984634.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:43:54.460Z,1628984634.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:43:54.914Z,1628984634.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:43:55.727Z,1628984635.727 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D33,000,012E5,189,80,80,AA,FF
2021-08-14T23:43:55.728Z,1628984635.728 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:43:55.731Z,1628984635.731 [Micromodem](INFO): Nmea in: $SNTTA,0.168221,,,,234355.64*4A

2021-08-14T23:43:55.752Z,1628984635.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T23:43:56.196Z,1628984636.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.719986 m, bearing: 76.574207 deg, deltaT: 4.871943 s, approachRate: -0.381778 m/s, LOS rate: -1.678784 deg/s, posRepo size: 4
2021-08-14T23:43:56.198Z,1628984636.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.719986 m,
      bearing: 76.574207 deg,
      approachRate: -0.381778 m/s,
      LOS rate: -1.678784 deg/s,
      cmd update: -6.715136 deg/s,
      cmd heading: 91.527005 deg,
      new cmd heading: 96.172820 deg.

2021-08-14T23:43:56.756Z,1628984636.756 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-14T23:43:58.591Z,1628984638.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:43:58.953Z,1628984638.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:43:58.953Z,1628984638.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:43:58.953Z,1628984638.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:43:58.954Z,1628984638.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:43:59.363Z,1628984639.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D33,000,012E5,189,80,80,AA,FF
2021-08-14T23:43:59.363Z,1628984639.363 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:43:59.363Z,1628984639.363 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:43:59.366Z,1628984639.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:43:59.776Z,1628984639.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:43:59.880Z,1628984639.880 [Radio_Surface](INFO): Powering down
2021-08-14T23:44:00.589Z,1628984640.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,012B9,188,80,80,93,FF
2021-08-14T23:44:00.590Z,1628984640.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:44:00.593Z,1628984640.593 [Micromodem](INFO): Nmea in: $SNTTA,,0.217730,,,234400.55*41

2021-08-14T23:44:01.013Z,1628984641.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 250.079987 m, bearing: 82.977462 deg, deltaT: 4.893798 s, approachRate: -0.539458 m/s, LOS rate: 1.308443 deg/s, posRepo size: 4
2021-08-14T23:44:01.015Z,1628984641.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 250.079987 m,
      bearing: 82.977462 deg,
      approachRate: -0.539458 m/s,
      LOS rate: 1.308443 deg/s,
      cmd update: 5.233771 deg/s,
      cmd heading: 58.690542 deg,
      new cmd heading: 56.264101 deg.

2021-08-14T23:44:03.449Z,1628984643.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:44:03.803Z,1628984643.803 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:44:03.803Z,1628984643.803 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:44:03.803Z,1628984643.803 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:44:03.804Z,1628984643.804 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:44:04.218Z,1628984644.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,012B9,188,80,80,93,FF
2021-08-14T23:44:04.218Z,1628984644.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:44:04.219Z,1628984644.219 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:44:04.220Z,1628984644.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:44:04.677Z,1628984644.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:44:05.485Z,1628984645.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,0128D,187,80,80,80,FF
2021-08-14T23:44:05.485Z,1628984645.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:44:05.492Z,1628984645.492 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234405.40*5E

2021-08-14T23:44:05.969Z,1628984645.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 247.440002 m, bearing: 79.282111 deg, deltaT: 4.904378 s, approachRate: -0.538291 m/s, LOS rate: -0.753480 deg/s, posRepo size: 4
2021-08-14T23:44:05.971Z,1628984645.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.440002 m,
      bearing: 79.282111 deg,
      approachRate: -0.538291 m/s,
      LOS rate: -0.753480 deg/s,
      cmd update: -3.013920 deg/s,
      cmd heading: 84.359295 deg,
      new cmd heading: 86.500305 deg.

2021-08-14T23:44:08.351Z,1628984648.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:44:08.717Z,1628984648.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:44:08.717Z,1628984648.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:44:08.717Z,1628984648.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:44:08.718Z,1628984648.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:44:09.106Z,1628984649.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,0128D,187,80,80,80,FF
2021-08-14T23:44:09.106Z,1628984649.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:44:09.106Z,1628984649.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:44:09.108Z,1628984649.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:44:09.537Z,1628984649.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:44:10.329Z,1628984650.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,01256,186,80,80,9B,FF
2021-08-14T23:44:10.329Z,1628984650.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:44:10.333Z,1628984650.333 [Micromodem](INFO): Nmea in: $SNTTA,0.348014,0.346633,,,234410.29*58

2021-08-14T23:44:10.791Z,1628984650.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.139984 m, bearing: 80.323312 deg, deltaT: 4.845916 s, approachRate: -0.680990 m/s, LOS rate: 0.214862 deg/s, posRepo size: 4
2021-08-14T23:44:10.797Z,1628984650.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 244.139984 m,
      bearing: 80.323312 deg,
      approachRate: -0.680990 m/s,
      LOS rate: 0.214862 deg/s,
      cmd update: 0.859446 deg/s,
      cmd heading: 69.914404 deg,
      new cmd heading: 68.580998 deg.

2021-08-14T23:44:13.170Z,1628984653.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:44:13.552Z,1628984653.552 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:44:13.553Z,1628984653.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:44:13.553Z,1628984653.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:44:13.554Z,1628984653.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:44:14.004Z,1628984654.004 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,01256,186,80,80,9B,FF
2021-08-14T23:44:14.004Z,1628984654.004 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:44:14.005Z,1628984654.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:44:14.006Z,1628984654.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:44:14.394Z,1628984654.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:44:15.191Z,1628984655.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,01220,184,80,80,B7,FF
2021-08-14T23:44:15.192Z,1628984655.192 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:44:15.216Z,1628984655.216 [Micromodem](INFO): Nmea in: $SNTTA,0.293504,,,,234415.19*44

2021-08-14T23:44:15.626Z,1628984655.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.899994 m, bearing: 77.260436 deg, deltaT: 4.836671 s, approachRate: -0.669880 m/s, LOS rate: -0.633261 deg/s, posRepo size: 4
2021-08-14T23:44:15.627Z,1628984655.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.899994 m,
      bearing: 77.260436 deg,
      approachRate: -0.669880 m/s,
      LOS rate: -0.633261 deg/s,
      cmd update: -2.533044 deg/s,
      cmd heading: 74.116951 deg,
      new cmd heading: 74.449980 deg.

2021-08-14T23:44:18.064Z,1628984658.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:44:18.445Z,1628984658.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:44:18.445Z,1628984658.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:44:18.445Z,1628984658.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:44:18.446Z,1628984658.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:44:18.810Z,1628984658.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,01220,184,80,80,B7,FF
2021-08-14T23:44:18.810Z,1628984658.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:44:18.810Z,1628984658.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:44:18.812Z,1628984658.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:44:19.233Z,1628984659.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:44:20.049Z,1628984660.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,011EC,184,80,80,B9,FF
2021-08-14T23:44:20.049Z,1628984660.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:44:20.052Z,1628984660.052 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234419.99*57

2021-08-14T23:44:20.490Z,1628984660.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.779999 m, bearing: 74.108331 deg, deltaT: 4.873338 s, approachRate: -0.640217 m/s, LOS rate: -0.646806 deg/s, posRepo size: 4
2021-08-14T23:44:20.508Z,1628984660.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.779999 m,
      bearing: 74.108331 deg,
      approachRate: -0.640217 m/s,
      LOS rate: -0.646806 deg/s,
      cmd update: -2.587225 deg/s,
      cmd heading: 61.763892 deg,
      new cmd heading: 60.813190 deg.

2021-08-14T23:44:22.877Z,1628984662.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:44:23.298Z,1628984663.298 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:44:23.298Z,1628984663.298 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:44:23.299Z,1628984663.299 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:44:23.300Z,1628984663.300 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:44:23.653Z,1628984663.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,011EC,184,80,80,B9,FF
2021-08-14T23:44:23.653Z,1628984663.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:44:23.653Z,1628984663.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:44:23.655Z,1628984663.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:44:24.082Z,1628984664.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:44:24.889Z,1628984664.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,011B4,187,80,80,A9,FF
2021-08-14T23:44:24.889Z,1628984664.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:44:25.316Z,1628984665.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.419998 m, bearing: 74.473104 deg, deltaT: 4.791504 s, approachRate: -0.701241 m/s, LOS rate: 0.076129 deg/s, posRepo size: 4
2021-08-14T23:44:25.318Z,1628984665.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.419998 m,
      bearing: 74.473104 deg,
      approachRate: -0.701241 m/s,
      LOS rate: 0.076129 deg/s,
      cmd update: 0.304517 deg/s,
      cmd heading: 49.365645 deg,
      new cmd heading: 48.307077 deg.

2021-08-14T23:44:27.736Z,1628984667.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:44:28.114Z,1628984668.114 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:44:28.114Z,1628984668.114 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:44:28.114Z,1628984668.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:44:28.115Z,1628984668.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:44:28.501Z,1628984668.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,011B4,187,80,80,A9,FF
2021-08-14T23:44:28.501Z,1628984668.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:44:28.501Z,1628984668.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:44:28.503Z,1628984668.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:44:28.935Z,1628984668.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:44:29.743Z,1628984669.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,01181,187,80,80,B0,FF
2021-08-14T23:44:29.743Z,1628984669.743 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:44:29.748Z,1628984669.748 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234429.68*5A

2021-08-14T23:44:30.172Z,1628984670.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.360001 m, bearing: 78.118499 deg, deltaT: 4.908926 s, approachRate: -0.623354 m/s, LOS rate: 0.742605 deg/s, posRepo size: 4
2021-08-14T23:44:30.174Z,1628984670.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.360001 m,
      bearing: 78.118499 deg,
      approachRate: -0.623354 m/s,
      LOS rate: 0.742605 deg/s,
      cmd update: 2.970422 deg/s,
      cmd heading: 50.859276 deg,
      new cmd heading: 50.968827 deg.

2021-08-14T23:44:32.584Z,1628984672.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:44:32.945Z,1628984672.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:44:32.945Z,1628984672.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:44:32.946Z,1628984672.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:44:32.947Z,1628984672.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:44:33.365Z,1628984673.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,01181,187,80,80,B0,FF
2021-08-14T23:44:33.365Z,1628984673.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:44:33.366Z,1628984673.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:44:33.380Z,1628984673.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:44:33.762Z,1628984673.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:44:34.171Z,1628984674.171 [Micromodem](INFO): Nmea in: $SNTTA,0.164419,0.211150,,,234434.56*52

2021-08-14T23:44:34.578Z,1628984674.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7C,000,01151,189,80,80,A2,FF
2021-08-14T23:44:34.578Z,1628984674.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:44:35.012Z,1628984675.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.479996 m, bearing: 83.724725 deg, deltaT: 4.840011 s, approachRate: -0.595041 m/s, LOS rate: 1.158309 deg/s, posRepo size: 4
2021-08-14T23:44:35.014Z,1628984675.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.479996 m,
      bearing: 83.724725 deg,
      approachRate: -0.595041 m/s,
      LOS rate: 1.158309 deg/s,
      cmd update: 4.633234 deg/s,
      cmd heading: 65.246662 deg,
      new cmd heading: 66.304735 deg.

2021-08-14T23:44:37.446Z,1628984677.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:44:37.801Z,1628984677.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:44:37.801Z,1628984677.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:44:37.801Z,1628984677.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:44:37.802Z,1628984677.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:44:38.220Z,1628984678.220 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7C,000,01151,189,80,80,A2,FF
2021-08-14T23:44:38.221Z,1628984678.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:44:38.223Z,1628984678.223 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:44:38.238Z,1628984678.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:44:38.616Z,1628984678.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:44:39.454Z,1628984679.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,01127,187,80,80,98,FF
2021-08-14T23:44:39.454Z,1628984679.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:44:39.459Z,1628984679.459 [Micromodem](INFO): Nmea in: $SNTTA,0.165102,,,,234439.42*4C

2021-08-14T23:44:39.839Z,1628984679.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.959991 m, bearing: 81.344999 deg, deltaT: 4.875692 s, approachRate: -0.516851 m/s, LOS rate: -0.488080 deg/s, posRepo size: 4
2021-08-14T23:44:39.841Z,1628984679.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.959991 m,
      bearing: 81.344999 deg,
      approachRate: -0.516851 m/s,
      LOS rate: -0.488080 deg/s,
      cmd update: -1.952319 deg/s,
      cmd heading: 87.820353 deg,
      new cmd heading: 89.247945 deg.

2021-08-14T23:44:42.309Z,1628984682.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:44:42.645Z,1628984682.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:44:42.646Z,1628984682.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:44:42.646Z,1628984682.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:44:42.647Z,1628984682.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:44:43.041Z,1628984683.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,01127,187,80,80,98,FF
2021-08-14T23:44:43.041Z,1628984683.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:44:43.041Z,1628984683.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:44:43.043Z,1628984683.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:44:43.457Z,1628984683.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:44:44.266Z,1628984684.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,010F7,186,80,80,92,FF
2021-08-14T23:44:44.266Z,1628984684.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:44:44.271Z,1628984684.271 [Micromodem](INFO): Nmea in: $SNTTA,0.150709,0.380062,,,234444.22*5A

2021-08-14T23:44:44.722Z,1628984684.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 223.080002 m, bearing: 78.599399 deg, deltaT: 4.886423 s, approachRate: -0.589386 m/s, LOS rate: -0.561883 deg/s, posRepo size: 4
2021-08-14T23:44:44.728Z,1628984684.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.080002 m,
      bearing: 78.599399 deg,
      approachRate: -0.589386 m/s,
      LOS rate: -0.561883 deg/s,
      cmd update: -2.247533 deg/s,
      cmd heading: 78.280457 deg,
      new cmd heading: 77.679839 deg.

2021-08-14T23:44:47.127Z,1628984687.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:44:47.481Z,1628984687.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:44:47.481Z,1628984687.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:44:47.481Z,1628984687.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:44:47.482Z,1628984687.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:44:47.911Z,1628984687.911 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,010F7,186,80,80,92,FF
2021-08-14T23:44:47.911Z,1628984687.911 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:44:47.916Z,1628984687.916 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:44:47.943Z,1628984687.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:44:48.325Z,1628984688.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:44:48.705Z,1628984688.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,007A4,186,80,80,8B,FF
2021-08-14T23:44:48.705Z,1628984688.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:44:49.123Z,1628984689.123 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234449.12*51

2021-08-14T23:44:49.170Z,1628984689.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.860001 m, bearing: 77.756929 deg, deltaT: 4.360590 s, approachRate: -32.844181 m/s, LOS rate: -0.193201 deg/s, posRepo size: 4
2021-08-14T23:44:49.172Z,1628984689.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.860001 m,
      bearing: 77.756929 deg,
      approachRate: -32.844181 m/s,
      LOS rate: -0.193201 deg/s,
      cmd update: -0.772803 deg/s,
      cmd heading: 68.471020 deg,
      new cmd heading: 67.591799 deg.

2021-08-14T23:44:51.585Z,1628984691.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:44:51.985Z,1628984691.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:44:51.985Z,1628984691.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:44:51.985Z,1628984691.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:44:51.986Z,1628984691.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:44:52.349Z,1628984692.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,007A4,186,80,80,8B,FF
2021-08-14T23:44:52.349Z,1628984692.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:44:52.349Z,1628984692.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:44:52.351Z,1628984692.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:44:52.756Z,1628984692.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:44:53.589Z,1628984693.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,01099,187,80,80,8E,FF
2021-08-14T23:44:53.589Z,1628984693.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:44:53.592Z,1628984693.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234453.53*5F

2021-08-14T23:44:54.066Z,1628984694.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.440002 m, bearing: 75.785102 deg, deltaT: 4.883520 s, approachRate: 28.172302 m/s, LOS rate: -0.403772 deg/s, posRepo size: 4
2021-08-14T23:44:54.070Z,1628984694.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.440002 m,
      bearing: 75.785102 deg,
      approachRate: 28.172302 m/s,
      LOS rate: -0.403772 deg/s,
      cmd update: -1.615087 deg/s,
      cmd heading: 64.700137 deg,
      new cmd heading: 64.386569 deg.

2021-08-14T23:44:56.418Z,1628984696.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:44:56.793Z,1628984696.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:44:56.793Z,1628984696.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:44:56.793Z,1628984696.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:44:56.794Z,1628984696.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:44:57.193Z,1628984697.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,01099,187,80,80,8E,FF
2021-08-14T23:44:57.193Z,1628984697.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:44:57.194Z,1628984697.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:44:57.195Z,1628984697.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:44:57.600Z,1628984697.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:44:58.433Z,1628984698.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,01068,186,80,80,94,FF
2021-08-14T23:44:58.433Z,1628984698.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:44:58.436Z,1628984698.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234458.37*56

2021-08-14T23:44:58.863Z,1628984698.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.499985 m, bearing: 78.215652 deg, deltaT: 4.861933 s, approachRate: -0.604701 m/s, LOS rate: 0.499914 deg/s, posRepo size: 4
2021-08-14T23:44:58.881Z,1628984698.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.499985 m,
      bearing: 78.215652 deg,
      approachRate: -0.604701 m/s,
      LOS rate: 0.499914 deg/s,
      cmd update: 1.999657 deg/s,
      cmd heading: 56.848447 deg,
      new cmd heading: 56.293979 deg.

2021-08-14T23:45:01.273Z,1628984701.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:45:01.645Z,1628984701.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:45:01.645Z,1628984701.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:45:01.645Z,1628984701.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:45:01.646Z,1628984701.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:45:02.057Z,1628984702.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,01068,186,80,80,94,FF
2021-08-14T23:45:02.057Z,1628984702.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:45:02.057Z,1628984702.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:45:02.059Z,1628984702.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:45:02.481Z,1628984702.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:45:03.317Z,1628984703.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E18,000,01037,186,80,80,60,FF
2021-08-14T23:45:03.318Z,1628984703.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:45:03.321Z,1628984703.321 [Micromodem](INFO): Nmea in: $SNTTA,0.143800,,,,234503.24*4B

2021-08-14T23:45:03.711Z,1628984703.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.559998 m, bearing: 83.618741 deg, deltaT: 4.811970 s, approachRate: -0.610974 m/s, LOS rate: 1.122844 deg/s, posRepo size: 4
2021-08-14T23:45:03.714Z,1628984703.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.559998 m,
      bearing: 83.618741 deg,
      approachRate: -0.610974 m/s,
      LOS rate: 1.122844 deg/s,
      cmd update: 4.491374 deg/s,
      cmd heading: 66.479919 deg,
      new cmd heading: 67.230562 deg.

2021-08-14T23:45:06.123Z,1628984706.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:45:06.521Z,1628984706.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:45:06.521Z,1628984706.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:45:06.521Z,1628984706.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:45:06.522Z,1628984706.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:45:06.893Z,1628984706.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E18,000,01037,186,80,80,60,FF
2021-08-14T23:45:06.893Z,1628984706.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:45:06.893Z,1628984706.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:45:06.895Z,1628984706.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:45:07.308Z,1628984707.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:45:08.133Z,1628984708.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,01007,187,80,80,9D,FF
2021-08-14T23:45:08.133Z,1628984708.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:45:08.136Z,1628984708.136 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234508.08*5E

2021-08-14T23:45:08.591Z,1628984708.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.679993 m, bearing: 85.655586 deg, deltaT: 4.863092 s, approachRate: -0.592217 m/s, LOS rate: 0.418837 deg/s, posRepo size: 4
2021-08-14T23:45:08.613Z,1628984708.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.679993 m,
      bearing: 85.655586 deg,
      approachRate: -0.592217 m/s,
      LOS rate: 0.418837 deg/s,
      cmd update: 1.675349 deg/s,
      cmd heading: 88.213129 deg,
      new cmd heading: 90.081483 deg.

2021-08-14T23:45:10.971Z,1628984710.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:45:11.345Z,1628984711.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:45:11.345Z,1628984711.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:45:11.345Z,1628984711.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:45:11.346Z,1628984711.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:45:11.741Z,1628984711.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,01007,187,80,80,9D,FF
2021-08-14T23:45:11.741Z,1628984711.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:45:11.741Z,1628984711.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:45:11.743Z,1628984711.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:45:12.167Z,1628984712.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:45:12.981Z,1628984712.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,00FD4,184,80,80,4A,FF
2021-08-14T23:45:12.981Z,1628984712.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:45:12.984Z,1628984712.984 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234512.92*56

2021-08-14T23:45:13.400Z,1628984713.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.619995 m, bearing: 81.884174 deg, deltaT: 4.829198 s, approachRate: -0.633645 m/s, LOS rate: -0.780960 deg/s, posRepo size: 4
2021-08-14T23:45:13.402Z,1628984713.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.619995 m,
      bearing: 81.884174 deg,
      approachRate: -0.633645 m/s,
      LOS rate: -0.780960 deg/s,
      cmd update: -3.123841 deg/s,
      cmd heading: 96.344229 deg,
      new cmd heading: 96.966263 deg.

2021-08-14T23:45:15.828Z,1628984715.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:45:16.193Z,1628984716.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:45:16.193Z,1628984716.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:45:16.193Z,1628984716.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:45:16.194Z,1628984716.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:45:16.605Z,1628984716.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,00FD4,184,80,80,4A,FF
2021-08-14T23:45:16.605Z,1628984716.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:45:16.605Z,1628984716.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:45:16.607Z,1628984716.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:45:17.004Z,1628984717.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:45:17.829Z,1628984717.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,136,000,00FB3,186,80,80,6A,FF
2021-08-14T23:45:17.829Z,1628984717.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:45:17.832Z,1628984717.832 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234517.79*56

2021-08-14T23:45:18.328Z,1628984718.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.639984 m, bearing: 78.036796 deg, deltaT: 4.862113 s, approachRate: -0.407233 m/s, LOS rate: -0.791297 deg/s, posRepo size: 4
2021-08-14T23:45:18.330Z,1628984718.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.639984 m,
      bearing: 78.036796 deg,
      approachRate: -0.407233 m/s,
      LOS rate: -0.791297 deg/s,
      cmd update: -3.165189 deg/s,
      cmd heading: 81.186758 deg,
      new cmd heading: 79.815148 deg.

2021-08-14T23:45:20.664Z,1628984720.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:45:21.046Z,1628984721.046 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:45:21.046Z,1628984721.046 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:45:21.046Z,1628984721.046 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:45:21.047Z,1628984721.047 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:45:21.444Z,1628984721.444 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
136,000,00FB3,186,80,80,6A,FF
2021-08-14T23:45:21.445Z,1628984721.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:45:21.445Z,1628984721.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:45:21.474Z,1628984721.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:45:21.854Z,1628984721.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:45:22.256Z,1628984722.256 [Micromodem](INFO): Nmea in: $SNTTA,0.121300,0.121294,,,234522.66*52

2021-08-14T23:45:22.649Z,1628984722.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,00F70,182,80,80,94,FF
2021-08-14T23:45:22.649Z,1628984722.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:45:23.080Z,1628984723.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.619980 m, bearing: 82.531553 deg, deltaT: 4.787517 s, approachRate: -0.839685 m/s, LOS rate: 0.938849 deg/s, posRepo size: 4
2021-08-14T23:45:23.082Z,1628984723.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.619980 m,
      bearing: 82.531553 deg,
      approachRate: -0.839685 m/s,
      LOS rate: 0.938849 deg/s,
      cmd update: 3.755396 deg/s,
      cmd heading: 66.001825 deg,
      new cmd heading: 64.729912 deg.

2021-08-14T23:45:25.544Z,1628984725.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:45:25.885Z,1628984725.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:45:25.885Z,1628984725.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:45:25.885Z,1628984725.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:45:25.886Z,1628984725.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:45:26.294Z,1628984726.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,00F70,182,80,80,94,FF
2021-08-14T23:45:26.294Z,1628984726.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:45:26.294Z,1628984726.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:45:26.296Z,1628984726.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:45:26.696Z,1628984726.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:45:27.533Z,1628984727.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,00F3B,186,80,80,A3,FF
2021-08-14T23:45:27.533Z,1628984727.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:45:27.536Z,1628984727.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234527.48*57

2021-08-14T23:45:27.978Z,1628984727.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.439987 m, bearing: 82.978384 deg, deltaT: 4.944595 s, approachRate: -0.643125 m/s, LOS rate: 0.090368 deg/s, posRepo size: 4
2021-08-14T23:45:27.980Z,1628984727.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.439987 m,
      bearing: 82.978384 deg,
      approachRate: -0.643125 m/s,
      LOS rate: 0.090368 deg/s,
      cmd update: 0.361470 deg/s,
      cmd heading: 84.555672 deg,
      new cmd heading: 85.901910 deg.

2021-08-14T23:45:30.351Z,1628984730.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:45:30.741Z,1628984730.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:45:30.741Z,1628984730.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:45:30.741Z,1628984730.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:45:30.742Z,1628984730.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:45:31.146Z,1628984731.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,00F3B,186,80,80,A3,FF
2021-08-14T23:45:31.146Z,1628984731.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:45:31.146Z,1628984731.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:45:31.148Z,1628984731.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:45:31.540Z,1628984731.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:45:31.999Z,1628984731.999 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,00F3B,186,80,80,A3,FF
2021-08-14T23:45:32.000Z,1628984732.000 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:45:32.401Z,1628984732.401 [Micromodem](INFO): Nmea in: $SNTTA,0.128732,,,,234532.33*4C

2021-08-14T23:45:32.442Z,1628984732.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.439987 m, bearing: 83.442283 deg, deltaT: 4.448239 s, approachRate: 0.000000 m/s, LOS rate: 0.104288 deg/s, posRepo size: 4
2021-08-14T23:45:32.444Z,1628984732.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.439987 m,
      bearing: 83.442283 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.104288 deg/s,
      cmd update: 0.417154 deg/s,
      cmd heading: 86.163522 deg,
      new cmd heading: 86.299095 deg.

2021-08-14T23:45:34.821Z,1628984734.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:45:35.177Z,1628984735.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:45:35.177Z,1628984735.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:45:35.178Z,1628984735.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:45:35.179Z,1628984735.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:45:35.577Z,1628984735.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,00F3B,186,80,80,A3,FF
2021-08-14T23:45:35.577Z,1628984735.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:45:35.577Z,1628984735.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:45:35.579Z,1628984735.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:45:36.005Z,1628984736.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:45:36.410Z,1628984736.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,00F3B,186,80,80,A3,FF
2021-08-14T23:45:36.410Z,1628984736.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:45:36.829Z,1628984736.829 [Micromodem](INFO): Nmea in: $SNTTA,0.109811,,,,234536.76*44

2021-08-14T23:45:36.872Z,1628984736.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.439987 m, bearing: 80.524283 deg, deltaT: 4.397058 s, approachRate: 0.000000 m/s, LOS rate: -0.663626 deg/s, posRepo size: 4
2021-08-14T23:45:36.874Z,1628984736.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.439987 m,
      bearing: 80.524283 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.663626 deg/s,
      cmd update: -2.654502 deg/s,
      cmd heading: 87.997836 deg,
      new cmd heading: 88.159639 deg.

2021-08-14T23:45:39.242Z,1628984739.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:45:39.625Z,1628984739.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:45:39.625Z,1628984739.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:45:39.626Z,1628984739.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:45:39.627Z,1628984739.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:45:40.025Z,1628984740.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07D,000,00F3B,186,80,80,A3,FF
2021-08-14T23:45:40.025Z,1628984740.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:45:40.025Z,1628984740.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:45:40.027Z,1628984740.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:45:40.449Z,1628984740.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:45:41.262Z,1628984741.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,00EAC,186,80,80,9F,FF
2021-08-14T23:45:41.262Z,1628984741.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:45:41.297Z,1628984741.297 [Micromodem](INFO): Nmea in: $SNTTA,0.124945,,,,234541.21*49

2021-08-14T23:45:41.694Z,1628984741.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.860001 m, bearing: 79.972472 deg, deltaT: 4.861418 s, approachRate: -1.764914 m/s, LOS rate: -0.113508 deg/s, posRepo size: 4
2021-08-14T23:45:41.700Z,1628984741.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.860001 m,
      bearing: 79.972472 deg,
      approachRate: -1.764914 m/s,
      LOS rate: -0.113508 deg/s,
      cmd update: -0.454033 deg/s,
      cmd heading: 75.125594 deg,
      new cmd heading: 74.113971 deg.

2021-08-14T23:45:44.099Z,1628984744.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:45:44.481Z,1628984744.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:45:44.481Z,1628984744.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:45:44.481Z,1628984744.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:45:44.482Z,1628984744.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:45:44.873Z,1628984744.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,00EAC,186,80,80,9F,FF
2021-08-14T23:45:44.873Z,1628984744.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:45:44.873Z,1628984744.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:45:44.875Z,1628984744.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:45:45.298Z,1628984745.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:45:45.701Z,1628984745.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,009A0,186,80,80,B2,FF
2021-08-14T23:45:45.701Z,1628984745.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:45:46.133Z,1628984746.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234546.06*5A

2021-08-14T23:45:46.197Z,1628984746.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.339996 m, bearing: 83.125786 deg, deltaT: 4.399553 s, approachRate: -17.619972 m/s, LOS rate: 0.716735 deg/s, posRepo size: 4
2021-08-14T23:45:46.199Z,1628984746.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.339996 m,
      bearing: 83.125786 deg,
      approachRate: -17.619972 m/s,
      LOS rate: 0.716735 deg/s,
      cmd update: 2.866940 deg/s,
      cmd heading: 73.120886 deg,
      new cmd heading: 72.910377 deg.

2021-08-14T23:45:48.554Z,1628984748.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:45:48.902Z,1628984748.902 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:45:48.902Z,1628984748.902 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:45:48.903Z,1628984748.903 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:45:48.904Z,1628984748.904 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:45:49.325Z,1628984749.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,009A0,186,80,80,B2,FF
2021-08-14T23:45:49.325Z,1628984749.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:45:49.325Z,1628984749.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:45:49.327Z,1628984749.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:45:49.733Z,1628984749.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:45:50.135Z,1628984750.135 [Micromodem](INFO): Nmea in: $SNTTA,0.123503,0.236474,,,234550.51*59

2021-08-14T23:45:50.521Z,1628984750.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00E4C,187,80,80,BA,FF
2021-08-14T23:45:50.522Z,1628984750.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:45:50.972Z,1628984750.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.100006 m, bearing: 83.888459 deg, deltaT: 4.846320 s, approachRate: 14.807114 m/s, LOS rate: 0.157371 deg/s, posRepo size: 4
2021-08-14T23:45:50.974Z,1628984750.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.100006 m,
      bearing: 83.888459 deg,
      approachRate: 14.807114 m/s,
      LOS rate: 0.157371 deg/s,
      cmd update: 0.629486 deg/s,
      cmd heading: 87.016091 deg,
      new cmd heading: 88.152979 deg.

2021-08-14T23:45:53.445Z,1628984753.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:45:53.761Z,1628984753.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:45:53.761Z,1628984753.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:45:53.761Z,1628984753.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:45:53.762Z,1628984753.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:45:54.169Z,1628984754.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00E4C,187,80,80,BA,FF
2021-08-14T23:45:54.169Z,1628984754.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:45:54.170Z,1628984754.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:45:54.173Z,1628984754.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:45:54.580Z,1628984754.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:45:54.982Z,1628984754.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,00E4C,187,80,80,BA,FF
2021-08-14T23:45:54.982Z,1628984754.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:45:55.433Z,1628984755.433 [Micromodem](INFO): Nmea in: $SNTTA,0.270283,,,,234555.36*49

2021-08-14T23:45:55.476Z,1628984755.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.100006 m, bearing: 80.969762 deg, deltaT: 4.462978 s, approachRate: 0.000000 m/s, LOS rate: -0.653980 deg/s, posRepo size: 4
2021-08-14T23:45:55.478Z,1628984755.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.100006 m,
      bearing: 80.969762 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.653980 deg/s,
      cmd update: -2.615919 deg/s,
      cmd heading: 89.822993 deg,
      new cmd heading: 90.101039 deg.

2021-08-14T23:45:57.827Z,1628984757.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:45:58.206Z,1628984758.206 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:45:58.206Z,1628984758.206 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:45:58.207Z,1628984758.207 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:45:58.207Z,1628984758.207 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:45:58.645Z,1628984758.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,00E4C,187,80,80,BA,FF
2021-08-14T23:45:58.645Z,1628984758.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:45:58.645Z,1628984758.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:45:58.647Z,1628984758.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:45:59.066Z,1628984759.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:45:59.454Z,1628984759.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AC,000,00E4C,187,80,80,BA,FF
2021-08-14T23:45:59.454Z,1628984759.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:45:59.901Z,1628984759.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234559.83*59

2021-08-14T23:45:59.974Z,1628984759.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.100006 m, bearing: 79.989561 deg, deltaT: 4.486194 s, approachRate: 0.000000 m/s, LOS rate: -0.218493 deg/s, posRepo size: 4
2021-08-14T23:45:59.980Z,1628984759.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.100006 m,
      bearing: 79.989561 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.218493 deg/s,
      cmd update: -0.873971 deg/s,
      cmd heading: 78.104668 deg,
      new cmd heading: 76.900655 deg.

2021-08-14T23:46:02.334Z,1628984762.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:46:02.686Z,1628984762.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:46:02.686Z,1628984762.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:46:02.686Z,1628984762.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:46:02.687Z,1628984762.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:46:03.090Z,1628984763.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AC,000,00E4C,187,80,80,BA,FF
2021-08-14T23:46:03.090Z,1628984763.090 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:46:03.090Z,1628984763.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:46:03.117Z,1628984763.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:46:03.496Z,1628984763.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:46:03.909Z,1628984763.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,0051C,183,80,80,8E,FF
2021-08-14T23:46:03.911Z,1628984763.911 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:46:04.329Z,1628984764.329 [Micromodem](INFO): Nmea in: $SNTTA,,0.341975,,,234604.30*49

2021-08-14T23:46:04.410Z,1628984764.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.980000 m, bearing: 81.455163 deg, deltaT: 4.499830 s, approachRate: -31.361187 m/s, LOS rate: 0.325702 deg/s, posRepo size: 4
2021-08-14T23:46:04.419Z,1628984764.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.980000 m,
      bearing: 81.455163 deg,
      approachRate: -31.361187 m/s,
      LOS rate: 0.325702 deg/s,
      cmd update: 1.302806 deg/s,
      cmd heading: 74.163108 deg,
      new cmd heading: 73.825600 deg.

2021-08-14T23:46:06.762Z,1628984766.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:46:07.125Z,1628984767.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:46:07.125Z,1628984767.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:46:07.126Z,1628984767.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:46:07.126Z,1628984767.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:46:07.533Z,1628984767.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,0051C,183,80,80,8E,FF
2021-08-14T23:46:07.533Z,1628984767.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:46:07.533Z,1628984767.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:46:07.535Z,1628984767.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:46:07.966Z,1628984767.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:46:08.374Z,1628984768.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,00D91,186,80,80,81,FF
2021-08-14T23:46:08.375Z,1628984768.375 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:46:08.778Z,1628984768.778 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234608.72*50

2021-08-14T23:46:08.828Z,1628984768.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.879990 m, bearing: 83.525250 deg, deltaT: 4.417406 s, approachRate: 29.406397 m/s, LOS rate: 0.468620 deg/s, posRepo size: 4
2021-08-14T23:46:08.830Z,1628984768.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.879990 m,
      bearing: 83.525250 deg,
      approachRate: 29.406397 m/s,
      LOS rate: 0.468620 deg/s,
      cmd update: 1.874482 deg/s,
      cmd heading: 79.917657 deg,
      new cmd heading: 80.416846 deg.

2021-08-14T23:46:11.200Z,1628984771.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:46:11.565Z,1628984771.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:46:11.565Z,1628984771.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:46:11.565Z,1628984771.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:46:11.566Z,1628984771.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:46:11.997Z,1628984771.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,00D91,186,80,80,81,FF
2021-08-14T23:46:11.997Z,1628984771.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:46:11.998Z,1628984771.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:46:12.001Z,1628984772.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:46:12.401Z,1628984772.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:46:12.790Z,1628984772.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,00D91,186,80,80,81,FF
2021-08-14T23:46:12.790Z,1628984772.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:46:13.209Z,1628984773.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234613.18*56

2021-08-14T23:46:13.232Z,1628984773.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.879990 m, bearing: 87.505337 deg, deltaT: 4.417882 s, approachRate: 0.000000 m/s, LOS rate: 0.900904 deg/s, posRepo size: 4
2021-08-14T23:46:13.234Z,1628984773.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.879990 m,
      bearing: 87.505337 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.900904 deg/s,
      cmd update: 3.603616 deg/s,
      cmd heading: 88.180765 deg,
      new cmd heading: 88.897964 deg.

2021-08-14T23:46:15.638Z,1628984775.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:46:16.024Z,1628984776.024 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:46:16.024Z,1628984776.024 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:46:16.025Z,1628984776.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:46:16.026Z,1628984776.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:46:16.445Z,1628984776.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,00D91,186,80,80,81,FF
2021-08-14T23:46:16.445Z,1628984776.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:46:16.445Z,1628984776.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:46:16.447Z,1628984776.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:46:16.829Z,1628984776.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:46:17.653Z,1628984777.653 [Micromodem](INFO): Nmea in: $SNTTA,0.112785,,,,234617.63*48

2021-08-14T23:46:18.469Z,1628984778.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:46:20.058Z,1628984780.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,173,000,08B25,185,80,80,6A,FF
2021-08-14T23:46:20.058Z,1628984780.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:46:20.505Z,1628984780.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2099.760010 m, bearing: 77.662331 deg, deltaT: 7.235926 s, approachRate: 266.569885 m/s, LOS rate: -1.360297 deg/s, posRepo size: 4
2021-08-14T23:46:20.507Z,1628984780.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2099.760010 m,
      bearing: 77.662331 deg,
      approachRate: 266.569885 m/s,
      LOS rate: -1.360297 deg/s,
      cmd update: -5.441187 deg/s,
      cmd heading: 114.293989 deg,
      new cmd heading: 115.770643 deg.

2021-08-14T23:46:22.903Z,1628984782.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:46:23.297Z,1628984783.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:46:23.298Z,1628984783.298 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:46:23.299Z,1628984783.299 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:46:23.314Z,1628984783.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:46:23.685Z,1628984783.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
173,000,08B25,185,80,80,6A,FF
2021-08-14T23:46:23.685Z,1628984783.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:46:23.685Z,1628984783.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:46:23.687Z,1628984783.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:46:24.097Z,1628984784.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:46:24.516Z,1628984784.516 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,323,000,00CED,189,80,80,9A,FF
2021-08-14T23:46:24.517Z,1628984784.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:46:24.945Z,1628984784.945 [Micromodem](INFO): Nmea in: $SNTTA,0.110712,,,,234624.87*4E

2021-08-14T23:46:24.964Z,1628984784.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.039993 m, bearing: 68.716225 deg, deltaT: 4.462204 s, approachRate: -434.475861 m/s, LOS rate: -2.004863 deg/s, posRepo size: 4
2021-08-14T23:46:24.966Z,1628984784.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.039993 m,
      bearing: 68.716225 deg,
      approachRate: -434.475861 m/s,
      LOS rate: -2.004863 deg/s,
      cmd update: -8.019451 deg/s,
      cmd heading: 90.085105 deg,
      new cmd heading: 87.803800 deg.

2021-08-14T23:46:27.374Z,1628984787.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:46:27.733Z,1628984787.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:46:27.733Z,1628984787.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:46:27.733Z,1628984787.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:46:27.734Z,1628984787.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:46:28.141Z,1628984788.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
323,000,00CED,189,80,80,9A,FF
2021-08-14T23:46:28.141Z,1628984788.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:46:28.141Z,1628984788.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:46:28.143Z,1628984788.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:46:28.356Z,1628984788.356 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T23:46:28.356Z,1628984788.356 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T23:46:28.357Z,1628984788.357 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T23:46:28.357Z,1628984788.357 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T23:46:28.357Z,1628984788.357 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T23:46:28.868Z,1628984788.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:46:28.880Z,1628984788.880 [Micromodem](INFO): Sent 51 bytes from file Logs/20210814T221742/Courier0024.lzma.parts
2021-08-14T23:46:28.880Z,1628984788.880 [Micromodem](INFO): Packets left to send: 0
2021-08-14T23:46:29.263Z,1628984789.263 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,00CC5,186,80,80,99,FF
2021-08-14T23:46:29.264Z,1628984789.264 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:46:29.541Z,1628984789.541 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 064118611D0000005D00000400260000000000000000151D80030C5669C08C79983DE4624B42CD66D4AF8FC6ECC3DC41FE9518FC72D54B77D4BB4F00
2021-08-14T23:46:29.542Z,1628984789.542 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T23:46:29.801Z,1628984789.801 [Micromodem](INFO): Nmea in: $SNTTA,0.107818,,,,234629.32*4E

2021-08-14T23:46:29.802Z,1628984789.802 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.107818,,,,234629.32*4E

2021-08-14T23:46:29.877Z,1628984789.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.639999 m, bearing: 73.073366 deg, deltaT: 5.048792 s, approachRate: -0.475360 m/s, LOS rate: 0.863007 deg/s, posRepo size: 4
2021-08-14T23:46:29.884Z,1628984789.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.639999 m,
      bearing: 73.073366 deg,
      approachRate: -0.475360 m/s,
      LOS rate: 0.863007 deg/s,
      cmd update: 3.452027 deg/s,
      cmd heading: 49.491717 deg,
      new cmd heading: 47.450349 deg.

2021-08-14T23:46:31.050Z,1628984791.050 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T23:46:31.466Z,1628984791.466 [Micromodem](INFO): Nmea in: $CADRQ,234630,1,10,0,64,1*76

2021-08-14T23:46:31.467Z,1628984791.467 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,064118611D0000005D00000400260000000000000000151D80030C5669C08C79983DE4624B42CD66D4AF8FC6ECC3DC41FE9518FC72D54B77D4BB4F00*3C

2021-08-14T23:46:31.846Z,1628984791.846 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T23:46:32.238Z,1628984792.238 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T23:46:32.324Z,1628984792.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:46:32.645Z,1628984792.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:46:32.645Z,1628984792.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:46:32.645Z,1628984792.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:46:32.646Z,1628984792.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:46:33.049Z,1628984793.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,00CC5,186,80,80,99,FF
2021-08-14T23:46:33.049Z,1628984793.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:46:33.050Z,1628984793.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:46:33.051Z,1628984793.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:46:33.477Z,1628984793.477 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T23:46:33.477Z,1628984793.477 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-14T23:46:33.867Z,1628984793.867 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,234632.669239,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*57

2021-08-14T23:46:33.867Z,1628984793.867 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,234632.669239,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*57

2021-08-14T23:46:35.292Z,1628984795.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:46:35.546Z,1628984795.546 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T23:46:35.549Z,1628984795.549 [Micromodem](INFO): Sent 52 bytes from file Logs/20210814T221742/Courier0029.lzma.parts
2021-08-14T23:46:35.550Z,1628984795.550 [Micromodem](INFO): Packets left to send: 0
2021-08-14T23:46:35.994Z,1628984795.994 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814234635.696092,06,32767,45,0122,0150,29,01,01,00,01,1,010,001,0,4,1,0,150,19.6,12.36,23,-9.36,-01,-0.70,40,14500,4000*74

2021-08-14T23:46:35.994Z,1628984795.994 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814234635.696092,06,32767,45,0122,0150,29,01,01,00,01,1,010,001,0,4,1,0,150,19.6,12.36,23,-9.36,-01,-0.70,40,14500,4000*74

2021-08-14T23:46:36.238Z,1628984796.238 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T23:46:36.239Z,1628984796.239 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T23:46:36.239Z,1628984796.239 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T23:46:36.239Z,1628984796.239 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T23:46:36.239Z,1628984796.239 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T23:46:37.973Z,1628984797.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:46:38.692Z,1628984798.692 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.045878
2021-08-14T23:46:40.741Z,1628984800.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:46:41.113Z,1628984801.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:46:41.113Z,1628984801.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:46:41.113Z,1628984801.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:46:41.114Z,1628984801.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:46:41.505Z,1628984801.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,00CC5,186,80,80,99,FF
2021-08-14T23:46:41.505Z,1628984801.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:46:41.505Z,1628984801.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:46:43.563Z,1628984803.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:46:44.334Z,1628984804.334 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:46:44.740Z,1628984804.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:46:45.149Z,1628984805.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,00C25,186,80,80,A4,FF
2021-08-14T23:46:45.150Z,1628984805.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:46:45.585Z,1628984805.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234645.52*5B

2021-08-14T23:46:45.631Z,1628984805.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.040009 m, bearing: 79.463384 deg, deltaT: 15.560316 s, approachRate: -0.616953 m/s, LOS rate: 0.410661 deg/s, posRepo size: 4
2021-08-14T23:46:45.634Z,1628984805.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.040009 m,
      bearing: 79.463384 deg,
      approachRate: -0.616953 m/s,
      LOS rate: 0.410661 deg/s,
      cmd update: 1.642645 deg/s,
      cmd heading: 103.206146 deg,
      new cmd heading: 104.799156 deg.

2021-08-14T23:46:48.043Z,1628984808.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:46:48.409Z,1628984808.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:46:48.409Z,1628984808.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:46:48.409Z,1628984808.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:46:48.410Z,1628984808.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:46:48.777Z,1628984808.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,00C25,186,80,80,A4,FF
2021-08-14T23:46:48.777Z,1628984808.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:46:48.778Z,1628984808.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:46:48.779Z,1628984808.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:46:49.184Z,1628984809.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:46:49.597Z,1628984809.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26F,000,00BFA,189,80,80,B5,FF
2021-08-14T23:46:49.597Z,1628984809.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:46:50.042Z,1628984810.042 [Micromodem](INFO): Nmea in: $SNTTA,0.104481,,,,234649.96*49

2021-08-14T23:46:50.078Z,1628984810.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.460007 m, bearing: 71.942273 deg, deltaT: 4.480669 s, approachRate: -0.575807 m/s, LOS rate: -1.678569 deg/s, posRepo size: 4
2021-08-14T23:46:50.081Z,1628984810.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.460007 m,
      bearing: 71.942273 deg,
      approachRate: -0.575807 m/s,
      LOS rate: -1.678569 deg/s,
      cmd update: -6.714275 deg/s,
      cmd heading: 110.566263 deg,
      new cmd heading: 111.274279 deg.

2021-08-14T23:46:52.475Z,1628984812.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:46:52.821Z,1628984812.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:46:52.821Z,1628984812.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:46:52.821Z,1628984812.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:46:52.822Z,1628984812.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:46:53.233Z,1628984813.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26F,000,00BFA,189,80,80,B5,FF
2021-08-14T23:46:53.234Z,1628984813.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:46:53.234Z,1628984813.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:46:53.235Z,1628984813.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:46:53.644Z,1628984813.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:46:54.478Z,1628984814.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234654.42*5A

2021-08-14T23:46:55.245Z,1628984815.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39E,000,03951,189,80,80,9C,FF
2021-08-14T23:46:55.246Z,1628984815.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:46:55.700Z,1628984815.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 842.880066 m, bearing: 66.081677 deg, deltaT: 5.659400 s, approachRate: 123.055458 m/s, LOS rate: -1.035551 deg/s, posRepo size: 4
2021-08-14T23:46:55.702Z,1628984815.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 842.880066 m,
      bearing: 66.081677 deg,
      approachRate: 123.055458 m/s,
      LOS rate: -1.035551 deg/s,
      cmd update: -4.142203 deg/s,
      cmd heading: 72.594105 deg,
      new cmd heading: 69.927074 deg.

2021-08-14T23:46:58.129Z,1628984818.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:46:58.478Z,1628984818.478 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:46:58.478Z,1628984818.478 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:46:58.478Z,1628984818.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:46:58.479Z,1628984818.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:46:58.499Z,1628984818.499 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T23:46:58.878Z,1628984818.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39E,000,03951,189,80,80,9C,FF
2021-08-14T23:46:58.878Z,1628984818.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:46:58.878Z,1628984818.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:46:58.900Z,1628984818.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:46:59.292Z,1628984819.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:46:59.698Z,1628984819.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,188,000,00BA2,186,80,80,9E,FF
2021-08-14T23:46:59.698Z,1628984819.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:47:00.129Z,1628984820.129 [Micromodem](INFO): Nmea in: $SNTTA,0.406973,,,,234700.08*45

2021-08-14T23:47:00.193Z,1628984820.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.180008 m, bearing: 78.685179 deg, deltaT: 4.420403 s, approachRate: -158.741196 m/s, LOS rate: 2.851211 deg/s, posRepo size: 4
2021-08-14T23:47:00.195Z,1628984820.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.180008 m,
      bearing: 78.685179 deg,
      approachRate: -158.741196 m/s,
      LOS rate: 2.851211 deg/s,
      cmd update: 11.404844 deg/s,
      cmd heading: 54.267585 deg,
      new cmd heading: 52.356211 deg.

2021-08-14T23:47:02.546Z,1628984822.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:47:02.925Z,1628984822.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:47:02.925Z,1628984822.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:47:02.926Z,1628984822.926 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:47:02.927Z,1628984822.927 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:47:03.336Z,1628984823.336 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
188,000,00BA2,186,80,80,9E,FF
2021-08-14T23:47:03.338Z,1628984823.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:47:03.339Z,1628984823.339 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:47:03.385Z,1628984823.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:47:03.457Z,1628984823.457 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:47:03.741Z,1628984823.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:47:04.146Z,1628984824.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,00BA2,186,80,80,9E,FF
2021-08-14T23:47:04.146Z,1628984824.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:47:04.559Z,1628984824.559 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234704.57*5A

2021-08-14T23:47:04.623Z,1628984824.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.180008 m, bearing: 77.315112 deg, deltaT: 4.503188 s, approachRate: 0.000000 m/s, LOS rate: -0.304244 deg/s, posRepo size: 4
2021-08-14T23:47:04.630Z,1628984824.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.180008 m,
      bearing: 77.315112 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.304244 deg/s,
      cmd update: -1.216976 deg/s,
      cmd heading: 105.580716 deg,
      new cmd heading: 110.108473 deg.

2021-08-14T23:47:06.999Z,1628984826.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:47:07.383Z,1628984827.383 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:47:07.384Z,1628984827.384 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:47:07.385Z,1628984827.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:47:07.386Z,1628984827.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:47:07.772Z,1628984827.772 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,00BA2,186,80,80,9E,FF
2021-08-14T23:47:07.772Z,1628984827.772 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:47:07.772Z,1628984827.772 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:47:07.774Z,1628984827.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:47:08.189Z,1628984828.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:47:08.201Z,1628984828.201 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T23:47:08.585Z,1628984828.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,00B4A,183,80,80,B5,FF
2021-08-14T23:47:08.585Z,1628984828.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:47:09.045Z,1628984829.045 [Micromodem](INFO): Nmea in: $SNTTA,0.090334,,,,234708.96*48

2021-08-14T23:47:09.079Z,1628984829.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.899994 m, bearing: 77.002842 deg, deltaT: 4.405372 s, approachRate: -1.198540 m/s, LOS rate: -0.070884 deg/s, posRepo size: 4
2021-08-14T23:47:09.081Z,1628984829.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.899994 m,
      bearing: 77.002842 deg,
      approachRate: -1.198540 m/s,
      LOS rate: -0.070884 deg/s,
      cmd update: -0.283535 deg/s,
      cmd heading: 100.214889 deg,
      new cmd heading: 99.675014 deg.

2021-08-14T23:47:11.501Z,1628984831.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:47:11.813Z,1628984831.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:47:11.813Z,1628984831.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:47:11.813Z,1628984831.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:47:11.814Z,1628984831.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:47:12.233Z,1628984832.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,00B4A,183,80,80,B5,FF
2021-08-14T23:47:12.233Z,1628984832.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:47:12.233Z,1628984832.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:47:12.235Z,1628984832.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:47:12.630Z,1628984832.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:47:13.052Z,1628984833.052 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12D,000,00B1A,186,80,80,A8,FF
2021-08-14T23:47:13.053Z,1628984833.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:47:13.485Z,1628984833.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234713.42*58

2021-08-14T23:47:13.532Z,1628984833.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.020004 m, bearing: 78.181931 deg, deltaT: 4.434037 s, approachRate: -0.649519 m/s, LOS rate: 0.265918 deg/s, posRepo size: 4
2021-08-14T23:47:13.534Z,1628984833.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.020004 m,
      bearing: 78.181931 deg,
      approachRate: -0.649519 m/s,
      LOS rate: 0.265918 deg/s,
      cmd update: 1.063671 deg/s,
      cmd heading: 98.957683 deg,
      new cmd heading: 98.827788 deg.

2021-08-14T23:47:14.666Z,1628984834.666 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:47:15.974Z,1628984835.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:47:16.263Z,1628984836.263 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:47:16.263Z,1628984836.263 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:47:16.265Z,1628984836.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:47:16.284Z,1628984836.284 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:47:16.677Z,1628984836.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12D,000,00B1A,186,80,80,A8,FF
2021-08-14T23:47:16.677Z,1628984836.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:47:16.677Z,1628984836.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:47:16.679Z,1628984836.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:47:17.104Z,1628984837.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:47:17.486Z,1628984837.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,00AF0,189,80,80,79,FF
2021-08-14T23:47:17.486Z,1628984837.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:47:17.954Z,1628984837.954 [Micromodem](INFO): Nmea in: $SNTTA,0.089154,,,,234717.86*4B

2021-08-14T23:47:18.002Z,1628984838.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.500000 m, bearing: 70.278965 deg, deltaT: 4.469407 s, approachRate: -0.563834 m/s, LOS rate: -1.768236 deg/s, posRepo size: 4
2021-08-14T23:47:18.004Z,1628984838.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.500000 m,
      bearing: 70.278965 deg,
      approachRate: -0.563834 m/s,
      LOS rate: -1.768236 deg/s,
      cmd update: -7.072943 deg/s,
      cmd heading: 103.711671 deg,
      new cmd heading: 104.203858 deg.

2021-08-14T23:47:20.424Z,1628984840.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:47:20.715Z,1628984840.715 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:47:20.715Z,1628984840.715 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:47:20.715Z,1628984840.715 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:47:20.717Z,1628984840.717 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:47:21.130Z,1628984841.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,00AF0,189,80,80,79,FF
2021-08-14T23:47:21.130Z,1628984841.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:47:21.130Z,1628984841.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:47:21.133Z,1628984841.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:47:21.521Z,1628984841.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:47:21.954Z,1628984841.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,332,000,00AC8,188,80,80,BC,FF
2021-08-14T23:47:21.955Z,1628984841.955 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:47:22.369Z,1628984842.369 [Micromodem](INFO): Nmea in: $SNTTA,0.292419,,,,234722.31*45

2021-08-14T23:47:22.426Z,1628984842.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.100006 m, bearing: 66.643180 deg, deltaT: 4.496534 s, approachRate: -0.533743 m/s, LOS rate: -0.808575 deg/s, posRepo size: 4
2021-08-14T23:47:22.433Z,1628984842.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.100006 m,
      bearing: 66.643180 deg,
      approachRate: -0.533743 m/s,
      LOS rate: -0.808575 deg/s,
      cmd update: -3.234300 deg/s,
      cmd heading: 71.936423 deg,
      new cmd heading: 69.146380 deg.

2021-08-14T23:47:23.578Z,1628984843.578 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:47:24.795Z,1628984844.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:47:25.157Z,1628984845.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:47:25.157Z,1628984845.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:47:25.157Z,1628984845.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:47:25.158Z,1628984845.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:47:25.557Z,1628984845.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
332,000,00AC8,188,80,80,BC,FF
2021-08-14T23:47:25.557Z,1628984845.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:47:25.557Z,1628984845.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:47:25.559Z,1628984845.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:47:26.007Z,1628984846.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:47:26.400Z,1628984846.400 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14C,000,00A9C,186,80,80,B6,FF
2021-08-14T23:47:26.400Z,1628984846.400 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:47:26.814Z,1628984846.814 [Micromodem](INFO): Nmea in: $SNTTA,0.093252,,,,234726.74*4A

2021-08-14T23:47:26.862Z,1628984846.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.459999 m, bearing: 74.508621 deg, deltaT: 4.420615 s, approachRate: -0.597204 m/s, LOS rate: 1.779264 deg/s, posRepo size: 4
2021-08-14T23:47:26.869Z,1628984846.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.459999 m,
      bearing: 74.508621 deg,
      approachRate: -0.597204 m/s,
      LOS rate: 1.779264 deg/s,
      cmd update: 7.117056 deg/s,
      cmd heading: 57.638133 deg,
      new cmd heading: 56.311578 deg.

2021-08-14T23:47:28.467Z,1628984848.467 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:47:29.211Z,1628984849.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:47:29.609Z,1628984849.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:47:29.609Z,1628984849.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:47:29.609Z,1628984849.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:47:29.610Z,1628984849.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:47:30.005Z,1628984850.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14C,000,00A9C,186,80,80,B6,FF
2021-08-14T23:47:30.005Z,1628984850.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:47:30.005Z,1628984850.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:47:30.007Z,1628984850.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:47:30.437Z,1628984850.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:47:30.813Z,1628984850.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,00A72,185,80,80,B1,FF
2021-08-14T23:47:30.813Z,1628984850.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:47:31.261Z,1628984851.261 [Micromodem](INFO): Nmea in: $SNTTA,0.081696,,,,234731.19*48

2021-08-14T23:47:31.289Z,1628984851.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.940002 m, bearing: 76.124528 deg, deltaT: 4.374478 s, approachRate: -0.576068 m/s, LOS rate: 0.369394 deg/s, posRepo size: 4
2021-08-14T23:47:31.291Z,1628984851.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.940002 m,
      bearing: 76.124528 deg,
      approachRate: -0.576068 m/s,
      LOS rate: 0.369394 deg/s,
      cmd update: 1.477577 deg/s,
      cmd heading: 88.799023 deg,
      new cmd heading: 92.059389 deg.

2021-08-14T23:47:32.497Z,1628984852.497 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for altitude
2021-08-14T23:47:33.651Z,1628984853.651 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:47:33.683Z,1628984853.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:47:34.042Z,1628984854.042 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:47:34.042Z,1628984854.042 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:47:34.042Z,1628984854.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:47:34.043Z,1628984854.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:47:34.449Z,1628984854.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,00A72,185,80,80,B1,FF
2021-08-14T23:47:34.450Z,1628984854.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:47:34.450Z,1628984854.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:47:34.452Z,1628984854.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:47:34.909Z,1628984854.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:47:35.712Z,1628984855.712 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234735.63*5F

2021-08-14T23:47:36.588Z,1628984856.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:47:37.741Z,1628984857.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E472,185,80,80,B1,FF
2021-08-14T23:47:37.741Z,1628984857.741 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E472,185,80,80,B1,FF
2021-08-14T23:47:37.742Z,1628984857.742 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:47:39.417Z,1628984859.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:47:39.753Z,1628984859.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:47:39.754Z,1628984859.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:47:39.754Z,1628984859.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:47:39.755Z,1628984859.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:47:40.153Z,1628984860.153 [DUSBL_Hydroid](INFO): DUSBL response received:
!U1,P
0,80,63,E472,185,80,80,B1,FF
2021-08-14T23:47:40.153Z,1628984860.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:47:40.153Z,1628984860.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:47:40.155Z,1628984860.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:47:40.560Z,1628984860.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:47:40.969Z,1628984860.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20D,000,00A08,186,80,80,96,FF
2021-08-14T23:47:40.969Z,1628984860.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:47:41.426Z,1628984861.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234741.34*5E

2021-08-14T23:47:41.484Z,1628984861.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.580002 m, bearing: 72.840860 deg, deltaT: 10.211776 s, approachRate: -0.622810 m/s, LOS rate: -0.321557 deg/s, posRepo size: 4
2021-08-14T23:47:41.486Z,1628984861.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.580002 m,
      bearing: 72.840860 deg,
      approachRate: -0.622810 m/s,
      LOS rate: -0.321557 deg/s,
      cmd update: -1.286228 deg/s,
      cmd heading: 103.873447 deg,
      new cmd heading: 104.539969 deg.

2021-08-14T23:47:43.431Z,1628984863.431 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-14T23:47:43.803Z,1628984863.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:47:44.189Z,1628984864.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:47:44.189Z,1628984864.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:47:44.189Z,1628984864.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:47:44.190Z,1628984864.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:47:44.593Z,1628984864.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20D,000,00A08,186,80,80,96,FF
2021-08-14T23:47:44.593Z,1628984864.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:47:44.594Z,1628984864.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:47:44.595Z,1628984864.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:47:45.008Z,1628984865.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:47:45.441Z,1628984865.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36D,000,009E4,189,80,80,BB,FF
2021-08-14T23:47:45.442Z,1628984865.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:47:45.833Z,1628984865.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234745.80*55

2021-08-14T23:47:45.864Z,1628984865.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.419998 m, bearing: 65.862196 deg, deltaT: 4.437003 s, approachRate: -0.486816 m/s, LOS rate: -1.572833 deg/s, posRepo size: 4
2021-08-14T23:47:45.866Z,1628984865.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.419998 m,
      bearing: 65.862196 deg,
      approachRate: -0.486816 m/s,
      LOS rate: -1.572833 deg/s,
      cmd update: -6.291331 deg/s,
      cmd heading: 98.160314 deg,
      new cmd heading: 97.659592 deg.

2021-08-14T23:47:48.311Z,1628984868.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:47:48.641Z,1628984868.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:47:48.641Z,1628984868.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:47:48.641Z,1628984868.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:47:48.642Z,1628984868.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:47:49.042Z,1628984869.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36D,000,009E4,189,80,80,BB,FF
2021-08-14T23:47:49.042Z,1628984869.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:47:49.042Z,1628984869.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:47:49.044Z,1628984869.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:47:49.449Z,1628984869.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:47:49.482Z,1628984869.482 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T23:47:49.857Z,1628984869.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FA,000,009C4,189,80,80,BA,FF
2021-08-14T23:47:49.858Z,1628984869.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:47:50.282Z,1628984870.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234750.23*58

2021-08-14T23:47:50.331Z,1628984870.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.500008 m, bearing: 66.376844 deg, deltaT: 4.477245 s, approachRate: -0.428833 m/s, LOS rate: 0.114947 deg/s, posRepo size: 4
2021-08-14T23:47:50.335Z,1628984870.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.500008 m,
      bearing: 66.376844 deg,
      approachRate: -0.428833 m/s,
      LOS rate: 0.114947 deg/s,
      cmd update: 0.459790 deg/s,
      cmd heading: 70.172912 deg,
      new cmd heading: 67.604287 deg.

2021-08-14T23:47:52.687Z,1628984872.687 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T23:47:52.718Z,1628984872.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:47:53.077Z,1628984873.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:47:53.077Z,1628984873.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:47:53.077Z,1628984873.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:47:53.078Z,1628984873.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:47:53.481Z,1628984873.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FA,000,009C4,189,80,80,BA,FF
2021-08-14T23:47:53.481Z,1628984873.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:47:53.482Z,1628984873.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:47:53.483Z,1628984873.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:47:53.884Z,1628984873.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:47:54.301Z,1628984874.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F2,000,00997,186,80,80,B2,FF
2021-08-14T23:47:54.301Z,1628984874.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:47:54.305Z,1628984874.305 [Micromodem](INFO): Nmea in: $SNTTA,0.158389,0.158389,,,234754.67*5C

2021-08-14T23:47:54.739Z,1628984874.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.800003 m, bearing: 73.514931 deg, deltaT: 4.461839 s, approachRate: -0.605133 m/s, LOS rate: 1.599808 deg/s, posRepo size: 4
2021-08-14T23:47:54.742Z,1628984874.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.800003 m,
      bearing: 73.514931 deg,
      approachRate: -0.605133 m/s,
      LOS rate: 1.599808 deg/s,
      cmd update: 6.399233 deg/s,
      cmd heading: 72.226329 deg,
      new cmd heading: 72.387358 deg.

2021-08-14T23:47:57.134Z,1628984877.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:47:57.521Z,1628984877.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:47:57.521Z,1628984877.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:47:57.521Z,1628984877.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:47:57.522Z,1628984877.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:47:57.965Z,1628984877.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F2,000,00997,186,80,80,B2,FF
2021-08-14T23:47:57.965Z,1628984877.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:47:57.965Z,1628984877.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:47:57.967Z,1628984877.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:47:58.343Z,1628984878.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:47:58.737Z,1628984878.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,0096D,183,80,80,AB,FF
2021-08-14T23:47:58.738Z,1628984878.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:47:59.155Z,1628984879.155 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234759.15*54

2021-08-14T23:47:59.200Z,1628984879.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.279999 m, bearing: 75.360810 deg, deltaT: 4.379254 s, approachRate: -0.575441 m/s, LOS rate: 0.421505 deg/s, posRepo size: 4
2021-08-14T23:47:59.202Z,1628984879.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.279999 m,
      bearing: 75.360810 deg,
      approachRate: -0.575441 m/s,
      LOS rate: 0.421505 deg/s,
      cmd update: 1.686022 deg/s,
      cmd heading: 100.408239 deg,
      new cmd heading: 102.985479 deg.

2021-08-14T23:48:01.613Z,1628984881.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:48:01.989Z,1628984881.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:48:01.989Z,1628984881.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:48:01.989Z,1628984881.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:48:01.990Z,1628984881.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:48:02.395Z,1628984882.395 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,0096D,183,80,80,AB,FF
2021-08-14T23:48:02.395Z,1628984882.395 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:48:02.396Z,1628984882.396 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:48:02.397Z,1628984882.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:48:02.773Z,1628984882.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:48:03.185Z,1628984883.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,166,000,00940,185,80,80,8C,FF
2021-08-14T23:48:03.186Z,1628984883.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:48:03.599Z,1628984883.599 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234803.58*5D

2021-08-14T23:48:03.632Z,1628984883.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.580002 m, bearing: 71.909830 deg, deltaT: 4.404921 s, approachRate: -0.612950 m/s, LOS rate: -0.783438 deg/s, posRepo size: 4
2021-08-14T23:48:03.634Z,1628984883.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.580002 m,
      bearing: 71.909830 deg,
      approachRate: -0.612950 m/s,
      LOS rate: -0.783438 deg/s,
      cmd update: -3.133750 deg/s,
      cmd heading: 107.842776 deg,
      new cmd heading: 108.567344 deg.

2021-08-14T23:48:06.048Z,1628984886.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:48:06.437Z,1628984886.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:48:06.437Z,1628984886.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:48:06.437Z,1628984886.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:48:06.438Z,1628984886.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:48:06.813Z,1628984886.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
166,000,00940,185,80,80,8C,FF
2021-08-14T23:48:06.813Z,1628984886.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:48:06.813Z,1628984886.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:48:06.815Z,1628984886.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:48:07.226Z,1628984887.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:48:07.621Z,1628984887.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,349,000,00918,189,80,80,C3,FF
2021-08-14T23:48:07.621Z,1628984887.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:48:08.069Z,1628984888.069 [Micromodem](INFO): Nmea in: $SNTTA,0.104799,,,,234808.00*47

2021-08-14T23:48:08.138Z,1628984888.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.180008 m, bearing: 63.666406 deg, deltaT: 4.551514 s, approachRate: -0.527296 m/s, LOS rate: -1.811139 deg/s, posRepo size: 4
2021-08-14T23:48:08.145Z,1628984888.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.180008 m,
      bearing: 63.666406 deg,
      approachRate: -0.527296 m/s,
      LOS rate: -1.811139 deg/s,
      cmd update: -7.244555 deg/s,
      cmd heading: 93.578735 deg,
      new cmd heading: 92.376626 deg.

2021-08-14T23:48:10.485Z,1628984890.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:48:10.864Z,1628984890.864 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:48:10.864Z,1628984890.864 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:48:10.864Z,1628984890.864 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:48:10.865Z,1628984890.865 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:48:11.255Z,1628984891.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
349,000,00918,189,80,80,C3,FF
2021-08-14T23:48:11.255Z,1628984891.255 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:48:11.256Z,1628984891.256 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:48:11.259Z,1628984891.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:48:11.665Z,1628984891.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:48:12.065Z,1628984892.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,008F7,189,80,80,7E,FF
2021-08-14T23:48:12.066Z,1628984892.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:48:12.513Z,1628984892.513 [Micromodem](INFO): Nmea in: $SNTTA,,0.268604,,,234812.44*40

2021-08-14T23:48:12.551Z,1628984892.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.199997 m, bearing: 66.169377 deg, deltaT: 4.380446 s, approachRate: -0.452011 m/s, LOS rate: 0.571396 deg/s, posRepo size: 4
2021-08-14T23:48:12.553Z,1628984892.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.199997 m,
      bearing: 66.169377 deg,
      approachRate: -0.452011 m/s,
      LOS rate: 0.571396 deg/s,
      cmd update: 2.285585 deg/s,
      cmd heading: 61.872946 deg,
      new cmd heading: 58.831059 deg.

2021-08-14T23:48:14.922Z,1628984894.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:48:15.309Z,1628984895.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:48:15.309Z,1628984895.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:48:15.310Z,1628984895.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:48:15.311Z,1628984895.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:48:15.713Z,1628984895.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,008F7,189,80,80,7E,FF
2021-08-14T23:48:15.714Z,1628984895.714 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:48:15.714Z,1628984895.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:48:15.716Z,1628984895.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:48:16.108Z,1628984896.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:48:16.518Z,1628984896.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,008C7,186,80,80,79,FF
2021-08-14T23:48:16.518Z,1628984896.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:48:16.935Z,1628984896.935 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234816.92*5F

2021-08-14T23:48:16.968Z,1628984896.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.320000 m, bearing: 71.533445 deg, deltaT: 4.411231 s, approachRate: -0.652878 m/s, LOS rate: 1.216003 deg/s, posRepo size: 4
2021-08-14T23:48:16.970Z,1628984896.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.320000 m,
      bearing: 71.533445 deg,
      approachRate: -0.652878 m/s,
      LOS rate: 1.216003 deg/s,
      cmd update: 4.864011 deg/s,
      cmd heading: 71.964184 deg,
      new cmd heading: 72.928068 deg.

2021-08-14T23:48:19.411Z,1628984899.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:48:19.741Z,1628984899.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:48:19.741Z,1628984899.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:48:19.741Z,1628984899.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:48:19.742Z,1628984899.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:48:20.145Z,1628984900.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,008C7,186,80,80,79,FF
2021-08-14T23:48:20.145Z,1628984900.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:48:20.145Z,1628984900.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:48:20.147Z,1628984900.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:48:20.552Z,1628984900.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:48:20.953Z,1628984900.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,0089D,182,80,80,9A,FF
2021-08-14T23:48:20.953Z,1628984900.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:48:21.417Z,1628984901.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234821.33*50

2021-08-14T23:48:21.480Z,1628984901.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.800003 m, bearing: 73.565755 deg, deltaT: 4.457540 s, approachRate: -0.565333 m/s, LOS rate: 0.455926 deg/s, posRepo size: 4
2021-08-14T23:48:21.482Z,1628984901.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.800003 m,
      bearing: 73.565755 deg,
      approachRate: -0.565333 m/s,
      LOS rate: 0.455926 deg/s,
      cmd update: 1.823705 deg/s,
      cmd heading: 93.486405 deg,
      new cmd heading: 95.942176 deg.

2021-08-14T23:48:23.815Z,1628984903.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:48:24.189Z,1628984904.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:48:24.189Z,1628984904.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:48:24.189Z,1628984904.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:48:24.190Z,1628984904.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:48:24.593Z,1628984904.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,0089D,182,80,80,9A,FF
2021-08-14T23:48:24.593Z,1628984904.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:48:24.594Z,1628984904.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:48:24.595Z,1628984904.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:48:24.997Z,1628984904.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:48:25.433Z,1628984905.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,179,000,00870,186,80,80,94,FF
2021-08-14T23:48:25.433Z,1628984905.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:48:25.858Z,1628984905.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234825.78*5B

2021-08-14T23:48:25.883Z,1628984905.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.100006 m, bearing: 70.366460 deg, deltaT: 4.457398 s, approachRate: -0.605734 m/s, LOS rate: -0.717749 deg/s, posRepo size: 4
2021-08-14T23:48:25.890Z,1628984905.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.100006 m,
      bearing: 70.366460 deg,
      approachRate: -0.605734 m/s,
      LOS rate: -0.717749 deg/s,
      cmd update: -2.870998 deg/s,
      cmd heading: 101.674743 deg,
      new cmd heading: 102.444930 deg.

2021-08-14T23:48:28.293Z,1628984908.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:48:28.638Z,1628984908.638 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:48:28.638Z,1628984908.638 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:48:28.638Z,1628984908.638 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:48:28.639Z,1628984908.639 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:48:29.037Z,1628984909.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
179,000,00870,186,80,80,94,FF
2021-08-14T23:48:29.037Z,1628984909.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:48:29.038Z,1628984909.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:48:29.039Z,1628984909.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:48:29.453Z,1628984909.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:48:29.837Z,1628984909.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2ED,000,00845,189,80,80,92,FF
2021-08-14T23:48:29.838Z,1628984909.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:48:30.287Z,1628984910.287 [Micromodem](INFO): Nmea in: $SNTTA,,0.379706,,,234830.22*42

2021-08-14T23:48:30.323Z,1628984910.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.519997 m, bearing: 65.215083 deg, deltaT: 4.444402 s, approachRate: -0.580508 m/s, LOS rate: -1.159071 deg/s, posRepo size: 4
2021-08-14T23:48:30.355Z,1628984910.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.519997 m,
      bearing: 65.215083 deg,
      approachRate: -0.580508 m/s,
      LOS rate: -1.159071 deg/s,
      cmd update: -4.636283 deg/s,
      cmd heading: 88.987689 deg,
      new cmd heading: 87.715263 deg.

2021-08-14T23:48:32.710Z,1628984912.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:48:33.069Z,1628984913.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:48:33.069Z,1628984913.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:48:33.070Z,1628984913.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:48:33.071Z,1628984913.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:48:33.489Z,1628984913.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2ED,000,00845,189,80,80,92,FF
2021-08-14T23:48:33.489Z,1628984913.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:48:33.489Z,1628984913.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:48:33.491Z,1628984913.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:48:33.902Z,1628984913.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:48:34.289Z,1628984914.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C4,000,00823,188,80,80,97,FF
2021-08-14T23:48:34.289Z,1628984914.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:48:34.713Z,1628984914.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234834.67*55

2021-08-14T23:48:34.739Z,1628984914.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.480003 m, bearing: 60.380655 deg, deltaT: 4.478068 s, approachRate: -0.455552 m/s, LOS rate: -1.079579 deg/s, posRepo size: 4
2021-08-14T23:48:34.741Z,1628984914.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.480003 m,
      bearing: 60.380655 deg,
      approachRate: -0.455552 m/s,
      LOS rate: -1.079579 deg/s,
      cmd update: -4.318316 deg/s,
      cmd heading: 68.238379 deg,
      new cmd heading: 66.459307 deg.

2021-08-14T23:48:37.139Z,1628984917.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:48:37.525Z,1628984917.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:48:37.525Z,1628984917.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:48:37.525Z,1628984917.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:48:37.526Z,1628984917.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:48:37.942Z,1628984917.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C4,000,00823,188,80,80,97,FF
2021-08-14T23:48:37.942Z,1628984917.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:48:37.943Z,1628984917.943 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:48:37.956Z,1628984917.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:48:38.349Z,1628984918.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:48:38.729Z,1628984918.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,007F4,186,80,80,A7,FF
2021-08-14T23:48:38.729Z,1628984918.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:48:39.173Z,1628984919.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234839.14*5C

2021-08-14T23:48:39.196Z,1628984919.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.660004 m, bearing: 70.138413 deg, deltaT: 4.401469 s, approachRate: -0.640695 m/s, LOS rate: 2.216932 deg/s, posRepo size: 4
2021-08-14T23:48:39.198Z,1628984919.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.660004 m,
      bearing: 70.138413 deg,
      approachRate: -0.640695 m/s,
      LOS rate: 2.216932 deg/s,
      cmd update: 8.867729 deg/s,
      cmd heading: 49.127697 deg,
      new cmd heading: 47.335561 deg.

2021-08-14T23:48:41.617Z,1628984921.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:48:41.989Z,1628984921.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:48:41.989Z,1628984921.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:48:41.989Z,1628984921.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:48:41.990Z,1628984921.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:48:42.405Z,1628984922.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,007F4,186,80,80,A7,FF
2021-08-14T23:48:42.405Z,1628984922.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:48:42.405Z,1628984922.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:48:42.407Z,1628984922.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:48:42.783Z,1628984922.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:48:43.185Z,1628984923.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,007C7,187,80,80,A5,FF
2021-08-14T23:48:43.185Z,1628984923.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:48:43.599Z,1628984923.599 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234843.59*58

2021-08-14T23:48:43.641Z,1628984923.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.960007 m, bearing: 72.139536 deg, deltaT: 4.453704 s, approachRate: -0.606236 m/s, LOS rate: 0.449316 deg/s, posRepo size: 4
2021-08-14T23:48:43.643Z,1628984923.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.960007 m,
      bearing: 72.139536 deg,
      approachRate: -0.606236 m/s,
      LOS rate: 0.449316 deg/s,
      cmd update: 1.797266 deg/s,
      cmd heading: 88.623863 deg,
      new cmd heading: 92.223061 deg.

2021-08-14T23:48:46.045Z,1628984926.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:48:46.457Z,1628984926.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:48:46.457Z,1628984926.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:48:46.457Z,1628984926.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:48:46.458Z,1628984926.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:48:46.814Z,1628984926.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,007C7,187,80,80,A5,FF
2021-08-14T23:48:46.814Z,1628984926.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:48:46.814Z,1628984926.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:48:46.816Z,1628984926.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:48:47.241Z,1628984927.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:48:47.617Z,1628984927.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,0079C,186,80,80,95,FF
2021-08-14T23:48:47.617Z,1628984927.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:48:48.051Z,1628984928.051 [Micromodem](INFO): Nmea in: $SNTTA,0.067043,0.448333,,,234848.00*52

2021-08-14T23:48:48.099Z,1628984928.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.379997 m, bearing: 71.259999 deg, deltaT: 4.450813 s, approachRate: -0.579672 m/s, LOS rate: -0.197613 deg/s, posRepo size: 4
2021-08-14T23:48:48.101Z,1628984928.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.379997 m,
      bearing: 71.259999 deg,
      approachRate: -0.579672 m/s,
      LOS rate: -0.197613 deg/s,
      cmd update: -0.790451 deg/s,
      cmd heading: 96.629990 deg,
      new cmd heading: 97.365811 deg.

2021-08-14T23:48:50.497Z,1628984930.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:48:50.857Z,1628984930.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:48:50.857Z,1628984930.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:48:50.857Z,1628984930.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:48:50.858Z,1628984930.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:48:51.270Z,1628984931.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,0079C,186,80,80,95,FF
2021-08-14T23:48:51.270Z,1628984931.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:48:51.271Z,1628984931.271 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:48:51.274Z,1628984931.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:48:51.661Z,1628984931.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:48:52.074Z,1628984932.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FD,000,0076E,186,80,80,98,FF
2021-08-14T23:48:52.075Z,1628984932.075 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:48:52.080Z,1628984932.080 [Micromodem](INFO): Nmea in: $SNTTA,0.057274,0.261464,,,234852.46*56

2021-08-14T23:48:52.531Z,1628984932.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.620003 m, bearing: 68.029265 deg, deltaT: 4.477212 s, approachRate: -0.616454 m/s, LOS rate: -0.721595 deg/s, posRepo size: 4
2021-08-14T23:48:52.533Z,1628984932.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.620003 m,
      bearing: 68.029265 deg,
      approachRate: -0.616454 m/s,
      LOS rate: -0.721595 deg/s,
      cmd update: -2.886380 deg/s,
      cmd heading: 93.094416 deg,
      new cmd heading: 92.802874 deg.

2021-08-14T23:48:54.911Z,1628984934.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:48:55.298Z,1628984935.298 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:48:55.298Z,1628984935.298 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:48:55.299Z,1628984935.299 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:48:55.299Z,1628984935.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:48:55.710Z,1628984935.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FD,000,0076E,186,80,80,98,FF
2021-08-14T23:48:55.710Z,1628984935.710 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:48:55.710Z,1628984935.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:48:55.712Z,1628984935.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:48:56.109Z,1628984936.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:48:56.513Z,1628984936.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DE,000,00744,189,80,80,73,FF
2021-08-14T23:48:56.513Z,1628984936.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:48:56.954Z,1628984936.954 [Micromodem](INFO): Nmea in: $SNTTA,0.072233,,,,234856.90*40

2021-08-14T23:48:57.004Z,1628984937.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.100006 m, bearing: 58.984585 deg, deltaT: 4.373376 s, approachRate: -0.576213 m/s, LOS rate: -2.068123 deg/s, posRepo size: 4
2021-08-14T23:48:57.006Z,1628984937.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.100006 m,
      bearing: 58.984585 deg,
      approachRate: -0.576213 m/s,
      LOS rate: -2.068123 deg/s,
      cmd update: -8.272492 deg/s,
      cmd heading: 80.458066 deg,
      new cmd heading: 79.130157 deg.

2021-08-14T23:48:58.141Z,1628984938.141 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T23:48:59.403Z,1628984939.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:48:59.737Z,1628984939.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:48:59.737Z,1628984939.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:48:59.737Z,1628984939.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:48:59.738Z,1628984939.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:49:00.150Z,1628984940.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DE,000,00744,189,80,80,73,FF
2021-08-14T23:49:00.150Z,1628984940.150 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:49:00.150Z,1628984940.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:49:00.152Z,1628984940.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:49:00.548Z,1628984940.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:49:00.945Z,1628984940.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CF,000,0071E,186,80,80,83,FF
2021-08-14T23:49:00.946Z,1628984940.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:49:01.398Z,1628984941.398 [Micromodem](INFO): Nmea in: $SNTTA,0.075744,,,,234901.34*4F

2021-08-14T23:49:01.449Z,1628984941.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.820000 m, bearing: 65.357049 deg, deltaT: 4.422535 s, approachRate: -0.515543 m/s, LOS rate: 1.440908 deg/s, posRepo size: 4
2021-08-14T23:49:01.451Z,1628984941.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.820000 m,
      bearing: 65.357049 deg,
      approachRate: -0.515543 m/s,
      LOS rate: 1.440908 deg/s,
      cmd update: 5.763630 deg/s,
      cmd heading: 43.872556 deg,
      new cmd heading: 39.885909 deg.

2021-08-14T23:49:03.485Z,1628984943.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:49:03.781Z,1628984943.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:49:03.782Z,1628984943.782 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:49:03.782Z,1628984943.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:49:03.783Z,1628984943.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:49:04.177Z,1628984944.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CF,000,0071E,186,80,80,83,FF
2021-08-14T23:49:04.177Z,1628984944.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:49:04.177Z,1628984944.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:49:04.179Z,1628984944.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:49:04.593Z,1628984944.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:49:04.986Z,1628984944.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,006F4,184,80,80,A1,FF
2021-08-14T23:49:04.986Z,1628984944.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:49:05.449Z,1628984945.449 [Micromodem](INFO): Nmea in: $SNTTA,0.061201,,,,234905.36*48

2021-08-14T23:49:05.502Z,1628984945.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.300003 m, bearing: 68.622241 deg, deltaT: 4.079711 s, approachRate: -0.617690 m/s, LOS rate: 0.800349 deg/s, posRepo size: 4
2021-08-14T23:49:05.504Z,1628984945.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.300003 m,
      bearing: 68.622241 deg,
      approachRate: -0.617690 m/s,
      LOS rate: 0.800349 deg/s,
      cmd update: 3.201396 deg/s,
      cmd heading: 67.321195 deg,
      new cmd heading: 70.031622 deg.

2021-08-14T23:49:07.855Z,1628984947.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:49:08.225Z,1628984948.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:49:08.225Z,1628984948.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:49:08.225Z,1628984948.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:49:08.226Z,1628984948.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:49:08.621Z,1628984948.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,006F4,184,80,80,A1,FF
2021-08-14T23:49:08.622Z,1628984948.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:49:08.622Z,1628984948.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:49:08.623Z,1628984948.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:49:09.033Z,1628984949.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:49:09.449Z,1628984949.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,006C7,184,80,80,8F,FF
2021-08-14T23:49:09.449Z,1628984949.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:49:09.871Z,1628984949.871 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234909.81*52

2021-08-14T23:49:09.970Z,1628984949.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.599998 m, bearing: 68.759596 deg, deltaT: 4.458553 s, approachRate: -0.605579 m/s, LOS rate: 0.030807 deg/s, posRepo size: 4
2021-08-14T23:49:09.976Z,1628984949.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.599998 m,
      bearing: 68.759596 deg,
      approachRate: -0.605579 m/s,
      LOS rate: 0.030807 deg/s,
      cmd update: 0.123228 deg/s,
      cmd heading: 81.629766 deg,
      new cmd heading: 83.133375 deg.

2021-08-14T23:49:12.314Z,1628984952.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:49:12.661Z,1628984952.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:49:12.661Z,1628984952.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:49:12.661Z,1628984952.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:49:12.662Z,1628984952.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:49:13.065Z,1628984953.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,006C7,184,80,80,8F,FF
2021-08-14T23:49:13.065Z,1628984953.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:49:13.065Z,1628984953.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:49:13.067Z,1628984953.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:49:13.469Z,1628984953.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:49:13.877Z,1628984953.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,00699,186,80,80,91,FF
2021-08-14T23:49:13.877Z,1628984953.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:49:14.289Z,1628984954.289 [Micromodem](INFO): Nmea in: $SNTTA,0.365801,0.365107,,,234914.25*5F

2021-08-14T23:49:14.376Z,1628984954.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.840004 m, bearing: 66.090584 deg, deltaT: 4.465552 s, approachRate: -0.618063 m/s, LOS rate: -0.597689 deg/s, posRepo size: 4
2021-08-14T23:49:14.392Z,1628984954.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.840004 m,
      bearing: 66.090584 deg,
      approachRate: -0.618063 m/s,
      LOS rate: -0.597689 deg/s,
      cmd update: -2.390757 deg/s,
      cmd heading: 82.178584 deg,
      new cmd heading: 82.226777 deg.

2021-08-14T23:49:16.740Z,1628984956.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:49:17.105Z,1628984957.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:49:17.105Z,1628984957.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:49:17.105Z,1628984957.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:49:17.106Z,1628984957.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:49:17.509Z,1628984957.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,00699,186,80,80,91,FF
2021-08-14T23:49:17.509Z,1628984957.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:49:17.509Z,1628984957.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:49:17.511Z,1628984957.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:49:17.956Z,1628984957.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:49:18.321Z,1628984958.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,287,000,00670,189,80,80,AA,FF
2021-08-14T23:49:18.322Z,1628984958.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:49:18.753Z,1628984958.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234918.70*5C

2021-08-14T23:49:18.806Z,1628984958.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.380005 m, bearing: 56.904690 deg, deltaT: 4.376315 s, approachRate: -0.562117 m/s, LOS rate: -2.099002 deg/s, posRepo size: 4
2021-08-14T23:49:18.813Z,1628984958.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.380005 m,
      bearing: 56.904690 deg,
      approachRate: -0.562117 m/s,
      LOS rate: -2.099002 deg/s,
      cmd update: -8.396008 deg/s,
      cmd heading: 71.696872 deg,
      new cmd heading: 70.577696 deg.

2021-08-14T23:49:21.171Z,1628984961.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:49:21.549Z,1628984961.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:49:21.549Z,1628984961.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:49:21.549Z,1628984961.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:49:21.550Z,1628984961.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:49:21.992Z,1628984961.992 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
287,000,00670,189,80,80,AA,FF
2021-08-14T23:49:21.993Z,1628984961.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:49:21.993Z,1628984961.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:49:21.994Z,1628984961.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:49:22.401Z,1628984962.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:49:22.765Z,1628984962.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F2,000,00640,186,80,80,99,FF
2021-08-14T23:49:22.766Z,1628984962.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:49:23.195Z,1628984963.195 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234923.18*5A

2021-08-14T23:49:23.231Z,1628984963.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.500008 m, bearing: 65.899427 deg, deltaT: 4.489094 s, approachRate: -0.641554 m/s, LOS rate: 2.003687 deg/s, posRepo size: 4
2021-08-14T23:49:23.233Z,1628984963.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.500008 m,
      bearing: 65.899427 deg,
      approachRate: -0.641554 m/s,
      LOS rate: 2.003687 deg/s,
      cmd update: 8.014746 deg/s,
      cmd heading: 33.970693 deg,
      new cmd heading: 30.618142 deg.

2021-08-14T23:49:25.646Z,1628984965.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:49:26.007Z,1628984966.007 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:49:26.007Z,1628984966.007 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:49:26.007Z,1628984966.007 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:49:26.008Z,1628984966.008 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:49:26.429Z,1628984966.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F2,000,00640,186,80,80,99,FF
2021-08-14T23:49:26.429Z,1628984966.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:49:26.430Z,1628984966.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:49:26.431Z,1628984966.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:49:26.813Z,1628984966.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:49:27.219Z,1628984967.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,00616,187,80,80,99,FF
2021-08-14T23:49:27.219Z,1628984967.219 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:49:27.639Z,1628984967.639 [Micromodem](INFO): Nmea in: $SNTTA,0.037096,,,,234927.62*46

2021-08-14T23:49:27.675Z,1628984967.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.980003 m, bearing: 68.091788 deg, deltaT: 4.405226 s, approachRate: -0.572049 m/s, LOS rate: 0.497673 deg/s, posRepo size: 4
2021-08-14T23:49:27.677Z,1628984967.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.980003 m,
      bearing: 68.091788 deg,
      approachRate: -0.572049 m/s,
      LOS rate: 0.497673 deg/s,
      cmd update: 1.990691 deg/s,
      cmd heading: 69.276123 deg,
      new cmd heading: 72.791687 deg.

2021-08-14T23:49:30.095Z,1628984970.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:49:30.449Z,1628984970.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:49:30.449Z,1628984970.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:49:30.450Z,1628984970.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:49:30.451Z,1628984970.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:49:30.849Z,1628984970.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,00616,187,80,80,99,FF
2021-08-14T23:49:30.849Z,1628984970.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:49:30.849Z,1628984970.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:49:30.851Z,1628984970.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:49:31.262Z,1628984971.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:49:31.665Z,1628984971.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,005EC,185,80,80,85,FF
2021-08-14T23:49:31.666Z,1628984971.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:49:32.097Z,1628984972.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234932.03*50

2021-08-14T23:49:32.157Z,1628984972.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.460003 m, bearing: 71.840128 deg, deltaT: 4.456015 s, approachRate: -0.565528 m/s, LOS rate: 0.841186 deg/s, posRepo size: 4
2021-08-14T23:49:32.159Z,1628984972.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.460003 m,
      bearing: 71.840128 deg,
      approachRate: -0.565528 m/s,
      LOS rate: 0.841186 deg/s,
      cmd update: 3.364746 deg/s,
      cmd heading: 78.146732 deg,
      new cmd heading: 79.062904 deg.

2021-08-14T23:49:34.514Z,1628984974.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:49:34.885Z,1628984974.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:49:34.885Z,1628984974.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:49:34.885Z,1628984974.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:49:34.886Z,1628984974.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:49:35.301Z,1628984975.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,005EC,185,80,80,85,FF
2021-08-14T23:49:35.301Z,1628984975.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:49:35.301Z,1628984975.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:49:35.303Z,1628984975.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:49:35.696Z,1628984975.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:49:36.138Z,1628984976.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,005BE,185,80,80,B8,FF
2021-08-14T23:49:36.138Z,1628984976.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:49:36.142Z,1628984976.142 [Micromodem](INFO): Nmea in: $SNTTA,0.207042,0.206792,,,234936.49*51

2021-08-14T23:49:36.582Z,1628984976.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.699997 m, bearing: 67.037931 deg, deltaT: 4.525316 s, approachRate: -0.609903 m/s, LOS rate: -1.061185 deg/s, posRepo size: 4
2021-08-14T23:49:36.605Z,1628984976.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.699997 m,
      bearing: 67.037931 deg,
      approachRate: -0.609903 m/s,
      LOS rate: -1.061185 deg/s,
      cmd update: -4.244739 deg/s,
      cmd heading: 93.359014 deg,
      new cmd heading: 94.599158 deg.

2021-08-14T23:49:38.999Z,1628984978.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:49:39.376Z,1628984979.376 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:49:39.376Z,1628984979.376 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:49:39.377Z,1628984979.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:49:39.378Z,1628984979.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:49:39.777Z,1628984979.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,005BE,185,80,80,B8,FF
2021-08-14T23:49:39.777Z,1628984979.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:49:39.777Z,1628984979.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:49:39.779Z,1628984979.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:49:40.185Z,1628984980.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:49:40.593Z,1628984980.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,00591,186,80,80,90,FF
2021-08-14T23:49:40.593Z,1628984980.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:49:41.017Z,1628984981.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234940.96*59

2021-08-14T23:49:41.064Z,1628984981.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.999996 m, bearing: 59.674202 deg, deltaT: 4.440425 s, approachRate: -0.608050 m/s, LOS rate: -1.658339 deg/s, posRepo size: 4
2021-08-14T23:49:41.066Z,1628984981.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.999996 m,
      bearing: 59.674202 deg,
      approachRate: -0.608050 m/s,
      LOS rate: -1.658339 deg/s,
      cmd update: -6.633355 deg/s,
      cmd heading: 74.491313 deg,
      new cmd heading: 72.874882 deg.

2021-08-14T23:49:43.518Z,1628984983.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:49:43.817Z,1628984983.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:49:43.817Z,1628984983.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:49:43.817Z,1628984983.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:49:43.818Z,1628984983.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:49:44.217Z,1628984984.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,00591,186,80,80,90,FF
2021-08-14T23:49:44.217Z,1628984984.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:49:44.217Z,1628984984.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:49:44.219Z,1628984984.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:49:44.647Z,1628984984.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:49:45.025Z,1628984985.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,296,000,00570,18A,80,80,3D,FF
2021-08-14T23:49:45.025Z,1628984985.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:49:45.474Z,1628984985.474 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234945.40*57

2021-08-14T23:49:45.500Z,1628984985.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.019997 m, bearing: 55.634172 deg, deltaT: 4.383507 s, approachRate: -0.451693 m/s, LOS rate: -0.921643 deg/s, posRepo size: 4
2021-08-14T23:49:45.502Z,1628984985.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.019997 m,
      bearing: 55.634172 deg,
      approachRate: -0.451693 m/s,
      LOS rate: -0.921643 deg/s,
      cmd update: -3.686573 deg/s,
      cmd heading: 45.414417 deg,
      new cmd heading: 42.379239 deg.

2021-08-14T23:49:47.892Z,1628984987.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:49:48.266Z,1628984988.266 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:49:48.266Z,1628984988.266 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:49:48.267Z,1628984988.267 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:49:48.269Z,1628984988.269 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:49:48.676Z,1628984988.676 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
296,000,00570,18A,80,80,3D,FF
2021-08-14T23:49:48.676Z,1628984988.676 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:49:48.676Z,1628984988.676 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:49:48.678Z,1628984988.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:49:49.068Z,1628984989.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:49:49.478Z,1628984989.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,00541,186,80,80,57,FF
2021-08-14T23:49:49.478Z,1628984989.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:49:49.928Z,1628984989.928 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234949.86*51

2021-08-14T23:49:49.997Z,1628984989.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.200001 m, bearing: 65.271945 deg, deltaT: 4.463793 s, approachRate: -0.631749 m/s, LOS rate: 2.159099 deg/s, posRepo size: 4
2021-08-14T23:49:49.999Z,1628984989.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.200001 m,
      bearing: 65.271945 deg,
      approachRate: -0.631749 m/s,
      LOS rate: 2.159099 deg/s,
      cmd update: 8.636398 deg/s,
      cmd heading: 28.958312 deg,
      new cmd heading: 27.147847 deg.

2021-08-14T23:49:52.323Z,1628984992.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:49:52.710Z,1628984992.710 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:49:52.710Z,1628984992.710 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:49:52.711Z,1628984992.711 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:49:52.712Z,1628984992.712 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:49:53.105Z,1628984993.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,00541,186,80,80,57,FF
2021-08-14T23:49:53.105Z,1628984993.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:49:53.105Z,1628984993.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:49:53.107Z,1628984993.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:49:53.540Z,1628984993.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:49:53.929Z,1628984993.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,00518,186,80,80,8E,FF
2021-08-14T23:49:53.930Z,1628984993.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:49:54.361Z,1628984994.361 [Micromodem](INFO): Nmea in: $SNTTA,0.042447,,,,234954.29*47

2021-08-14T23:49:54.444Z,1628984994.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.739998 m, bearing: 66.061952 deg, deltaT: 4.531844 s, approachRate: -0.542826 m/s, LOS rate: 0.174324 deg/s, posRepo size: 4
2021-08-14T23:49:54.446Z,1628984994.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.739998 m,
      bearing: 66.061952 deg,
      approachRate: -0.542826 m/s,
      LOS rate: 0.174324 deg/s,
      cmd update: 0.697294 deg/s,
      cmd heading: 68.020522 deg,
      new cmd heading: 71.569089 deg.

2021-08-14T23:49:56.782Z,1628984996.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:49:57.145Z,1628984997.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:49:57.145Z,1628984997.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:49:57.145Z,1628984997.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:49:57.146Z,1628984997.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:49:57.562Z,1628984997.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,00518,186,80,80,8E,FF
2021-08-14T23:49:57.562Z,1628984997.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:49:57.563Z,1628984997.563 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:49:57.588Z,1628984997.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:49:57.996Z,1628984997.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:49:58.371Z,1628984998.371 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,004EA,186,80,80,98,FF
2021-08-14T23:49:58.372Z,1628984998.372 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:49:58.801Z,1628984998.801 [Micromodem](INFO): Nmea in: $SNTTA,0.040687,,,,234958.77*4C

2021-08-14T23:49:58.847Z,1628984998.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.980000 m, bearing: 68.222832 deg, deltaT: 4.392353 s, approachRate: -0.628364 m/s, LOS rate: 0.491964 deg/s, posRepo size: 4
2021-08-14T23:49:58.849Z,1628984998.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.98 m.
2021-08-14T23:49:58.851Z,1628984998.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.980000 m,
      bearing: 68.222832 deg,
      approachRate: -0.628364 m/s,
      LOS rate: 0.491964 deg/s,
      cmd update: 1.967857 deg/s,
      cmd heading: 71.086596 deg,
      new cmd heading: 71.380298 deg.

2021-08-14T23:49:59.206Z,1628984999.206 [PowerOnly](INFO): Powering up loadControl
2021-08-14T23:49:59.272Z,1628984999.272 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T23:49:59.272Z,1628984999.272 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T23:49:59.273Z,1628984999.273 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T23:49:59.274Z,1628984999.274 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T23:49:59.274Z,1628984999.274 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T23:49:59.274Z,1628984999.274 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T23:49:59.643Z,1628984999.643 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T23:49:59.643Z,1628984999.643 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T23:49:59.643Z,1628984999.643 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T23:49:59.643Z,1628984999.643 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T23:50:01.244Z,1628985001.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:50:01.613Z,1628985001.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:50:01.613Z,1628985001.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:50:01.613Z,1628985001.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:50:01.614Z,1628985001.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:50:02.010Z,1628985002.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,004EA,186,80,80,98,FF
2021-08-14T23:50:02.010Z,1628985002.010 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:50:02.010Z,1628985002.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:50:02.012Z,1628985002.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:50:02.448Z,1628985002.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:50:02.837Z,1628985002.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,004C0,183,80,80,78,FF
2021-08-14T23:50:02.837Z,1628985002.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:50:02.890Z,1628985002.890 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:50:03.278Z,1628985003.278 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235003.20*5B

2021-08-14T23:50:03.308Z,1628985003.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.460003 m, bearing: 62.900230 deg, deltaT: 4.457181 s, approachRate: -0.565379 m/s, LOS rate: -1.194163 deg/s, posRepo size: 4
2021-08-14T23:50:03.309Z,1628985003.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.46 m.
2021-08-14T23:50:03.311Z,1628985003.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.460003 m,
      bearing: 62.900230 deg,
      approachRate: -0.565379 m/s,
      LOS rate: -1.194163 deg/s,
      cmd update: -4.776654 deg/s,
      cmd heading: 79.856927 deg,
      new cmd heading: 80.693894 deg.

2021-08-14T23:50:05.702Z,1628985005.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:50:06.077Z,1628985006.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:50:06.077Z,1628985006.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:50:06.077Z,1628985006.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:50:06.078Z,1628985006.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:50:06.474Z,1628985006.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,004C0,183,80,80,78,FF
2021-08-14T23:50:06.474Z,1628985006.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:50:06.474Z,1628985006.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:50:06.476Z,1628985006.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:50:06.881Z,1628985006.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:50:07.714Z,1628985007.714 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235007.66*5D

2021-08-14T23:50:08.555Z,1628985008.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:50:10.109Z,1628985010.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,183,80,80,78,FF
2021-08-14T23:50:10.109Z,1628985010.109 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,183,80,80,78,FF
2021-08-14T23:50:10.109Z,1628985010.109 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:50:11.406Z,1628985011.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:50:11.729Z,1628985011.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:50:11.729Z,1628985011.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:50:11.729Z,1628985011.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:50:11.730Z,1628985011.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:50:12.153Z,1628985012.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,183,80,80,78,FF
2021-08-14T23:50:12.153Z,1628985012.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:50:12.153Z,1628985012.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:50:12.155Z,1628985012.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:50:12.567Z,1628985012.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:50:12.961Z,1628985012.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FD,000,00463,186,80,80,B6,FF
2021-08-14T23:50:12.962Z,1628985012.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:50:13.007Z,1628985013.007 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:50:13.421Z,1628985013.421 [Micromodem](INFO): Nmea in: $SNTTA,0.108822,,,,235013.34*40

2021-08-14T23:50:13.477Z,1628985013.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.880001 m, bearing: 59.484917 deg, deltaT: 10.116795 s, approachRate: -0.551558 m/s, LOS rate: -0.337588 deg/s, posRepo size: 4
2021-08-14T23:50:13.478Z,1628985013.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.88 m.
2021-08-14T23:50:13.478Z,1628985013.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.88 m.
2021-08-14T23:50:13.478Z,1628985013.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T23:50:13.484Z,1628985013.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.880001 m,
      bearing: 59.484917 deg,
      approachRate: -0.551558 m/s,
      LOS rate: -0.337588 deg/s,
      cmd update: -1.350354 deg/s,
      cmd heading: 31.531653 deg,
      new cmd heading: 29.272410 deg.

2021-08-14T23:50:15.821Z,1628985015.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:50:16.201Z,1628985016.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:50:16.201Z,1628985016.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:50:16.201Z,1628985016.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:50:16.202Z,1628985016.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:50:16.605Z,1628985016.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FD,000,00463,186,80,80,B6,FF
2021-08-14T23:50:16.605Z,1628985016.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:50:16.606Z,1628985016.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:50:16.607Z,1628985016.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:50:17.004Z,1628985017.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:50:17.850Z,1628985017.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235017.79*52

2021-08-14T23:50:18.659Z,1628985018.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:50:20.246Z,1628985020.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,B6,FF
2021-08-14T23:50:20.246Z,1628985020.246 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,B6,FF
2021-08-14T23:50:20.246Z,1628985020.246 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:50:21.482Z,1628985021.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:50:21.857Z,1628985021.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:50:21.857Z,1628985021.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:50:21.857Z,1628985021.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:50:21.858Z,1628985021.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:50:22.271Z,1628985022.271 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,B6,FF
2021-08-14T23:50:22.271Z,1628985022.271 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:50:22.271Z,1628985022.271 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:50:22.274Z,1628985022.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:50:22.675Z,1628985022.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:50:23.077Z,1628985023.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7C,000,00403,189,80,80,5D,FF
2021-08-14T23:50:23.077Z,1628985023.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:50:23.123Z,1628985023.123 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:50:23.541Z,1628985023.541 [Micromodem](INFO): Nmea in: $SNTTA,0.053433,,,,235023.46*45

2021-08-14T23:50:23.579Z,1628985023.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 66.719296 deg, deltaT: 10.116557 s, approachRate: -0.569363 m/s, LOS rate: 0.715103 deg/s, posRepo size: 4
2021-08-14T23:50:23.581Z,1628985023.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 66.719296 deg,
      approachRate: -0.569363 m/s,
      LOS rate: 0.715103 deg/s,
      cmd update: 2.860412 deg/s,
      cmd heading: 17.866372 deg,
      new cmd heading: 17.245801 deg.

2021-08-14T23:50:25.973Z,1628985025.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:50:26.324Z,1628985026.324 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:50:26.324Z,1628985026.324 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:50:26.324Z,1628985026.324 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:50:26.325Z,1628985026.325 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:50:26.710Z,1628985026.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7C,000,00403,189,80,80,5D,FF
2021-08-14T23:50:26.710Z,1628985026.710 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:50:26.710Z,1628985026.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:50:26.712Z,1628985026.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:50:27.121Z,1628985027.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:50:27.517Z,1628985027.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC3,000,003E4,189,80,80,9E,FF
2021-08-14T23:50:27.518Z,1628985027.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:50:27.578Z,1628985027.578 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:50:27.977Z,1628985027.977 [Micromodem](INFO): Nmea in: $SNTTA,0.014524,,,,235027.90*4E

2021-08-14T23:50:28.047Z,1628985028.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 62.760791 deg, deltaT: 4.454500 s, approachRate: -0.417555 m/s, LOS rate: -0.888653 deg/s, posRepo size: 4
2021-08-14T23:50:28.050Z,1628985028.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.260002 m,
      bearing: 62.760791 deg,
      approachRate: -0.417555 m/s,
      LOS rate: -0.888653 deg/s,
      cmd update: -3.554612 deg/s,
      cmd heading: 30.597500 deg,
      new cmd heading: 31.961587 deg.

2021-08-14T23:50:30.435Z,1628985030.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:50:30.749Z,1628985030.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:50:30.749Z,1628985030.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:50:30.749Z,1628985030.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:50:30.750Z,1628985030.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:50:31.157Z,1628985031.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC3,000,003E4,189,80,80,9E,FF
2021-08-14T23:50:31.157Z,1628985031.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:50:31.157Z,1628985031.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:50:31.159Z,1628985031.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:50:31.556Z,1628985031.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:50:32.005Z,1628985032.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,003CB,18A,80,80,AE,FF
2021-08-14T23:50:32.006Z,1628985032.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:50:32.129Z,1628985032.129 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:50:32.426Z,1628985032.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235032.34*5C

2021-08-14T23:50:32.452Z,1628985032.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 59.212979 deg, deltaT: 4.550822 s, approachRate: -0.329612 m/s, LOS rate: -0.779598 deg/s, posRepo size: 4
2021-08-14T23:50:32.454Z,1628985032.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 59.212979 deg,
      approachRate: -0.329612 m/s,
      LOS rate: -0.779598 deg/s,
      cmd update: -3.118392 deg/s,
      cmd heading: 14.405153 deg,
      new cmd heading: 13.244967 deg.

2021-08-14T23:50:34.808Z,1628985034.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:50:35.198Z,1628985035.198 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:50:35.198Z,1628985035.198 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:50:35.198Z,1628985035.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:50:35.199Z,1628985035.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:50:35.593Z,1628985035.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,003CB,18A,80,80,AE,FF
2021-08-14T23:50:35.593Z,1628985035.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:50:35.593Z,1628985035.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:50:35.595Z,1628985035.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:50:36.023Z,1628985036.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:50:36.425Z,1628985036.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC7,000,003AD,189,80,80,84,FF
2021-08-14T23:50:36.426Z,1628985036.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:50:36.457Z,1628985036.457 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:50:36.849Z,1628985036.849 [Micromodem](INFO): Nmea in: $SNTTA,0.030858,,,,235036.78*48

2021-08-14T23:50:36.872Z,1628985036.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 67.778713 deg, deltaT: 4.328246 s, approachRate: -0.415872 m/s, LOS rate: 1.979031 deg/s, posRepo size: 4
2021-08-14T23:50:36.874Z,1628985036.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 67.778713 deg,
      approachRate: -0.415872 m/s,
      LOS rate: 1.979031 deg/s,
      cmd update: 7.916124 deg/s,
      cmd heading: 0.907847 deg,
      new cmd heading: 359.605453 deg.

2021-08-14T23:50:39.285Z,1628985039.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:50:39.639Z,1628985039.639 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:50:39.639Z,1628985039.639 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:50:39.639Z,1628985039.639 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:50:39.640Z,1628985039.640 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:50:40.038Z,1628985040.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC7,000,003AD,189,80,80,84,FF
2021-08-14T23:50:40.038Z,1628985040.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:50:40.038Z,1628985040.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:50:40.057Z,1628985040.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:50:40.444Z,1628985040.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:50:40.854Z,1628985040.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0039E,189,80,80,85,FF
2021-08-14T23:50:40.855Z,1628985040.855 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:50:40.914Z,1628985040.914 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:50:41.279Z,1628985041.279 [Micromodem](INFO): Nmea in: $SNTTA,0.026625,,,,235041.24*42

2021-08-14T23:50:41.297Z,1628985041.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 76.100192 deg, deltaT: 4.456863 s, approachRate: -0.201937 m/s, LOS rate: 1.867116 deg/s, posRepo size: 4
2021-08-14T23:50:41.299Z,1628985041.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.059998 m,
      bearing: 76.100192 deg,
      approachRate: -0.201937 m/s,
      LOS rate: 1.867116 deg/s,
      cmd update: 7.468463 deg/s,
      cmd heading: 36.156987 deg,
      new cmd heading: 39.242859 deg.

2021-08-14T23:50:43.730Z,1628985043.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:50:44.090Z,1628985044.090 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:50:44.090Z,1628985044.090 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:50:44.091Z,1628985044.091 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:50:44.096Z,1628985044.096 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:50:44.481Z,1628985044.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0039E,189,80,80,85,FF
2021-08-14T23:50:44.481Z,1628985044.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:50:44.481Z,1628985044.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:50:44.483Z,1628985044.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:50:44.897Z,1628985044.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:50:45.297Z,1628985045.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D69,000,00399,189,80,80,9E,FF
2021-08-14T23:50:45.298Z,1628985045.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:50:45.413Z,1628985045.413 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:50:45.781Z,1628985045.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235045.67*5A

2021-08-14T23:50:45.859Z,1628985045.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 48.788045 deg, deltaT: 4.499063 s, approachRate: -0.066680 m/s, LOS rate: -6.070630 deg/s, posRepo size: 4
2021-08-14T23:50:45.873Z,1628985045.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.759998 m,
      bearing: 48.788045 deg,
      approachRate: -0.066680 m/s,
      LOS rate: -6.070630 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 69.757862 deg,
      new cmd heading: 73.144339 deg.

2021-08-14T23:50:48.206Z,1628985048.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:50:48.551Z,1628985048.551 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:50:48.551Z,1628985048.551 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:50:48.553Z,1628985048.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:50:48.559Z,1628985048.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:50:48.933Z,1628985048.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D69,000,00399,189,80,80,9E,FF
2021-08-14T23:50:48.933Z,1628985048.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:50:48.933Z,1628985048.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:50:48.935Z,1628985048.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:50:49.348Z,1628985049.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:50:49.741Z,1628985049.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC3,000,00396,188,80,80,7F,FF
2021-08-14T23:50:49.742Z,1628985049.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:50:49.826Z,1628985049.826 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:50:50.185Z,1628985050.185 [Micromodem](INFO): Nmea in: $SNTTA,,0.030222,,,235050.12*43

2021-08-14T23:50:50.247Z,1628985050.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.580000 m, bearing: 71.216033 deg, deltaT: 4.412821 s, approachRate: -0.040790 m/s, LOS rate: 5.082460 deg/s, posRepo size: 4
2021-08-14T23:50:50.255Z,1628985050.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.580000 m,
      bearing: 71.216033 deg,
      approachRate: -0.040790 m/s,
      LOS rate: 5.082460 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 16.779120 deg,
      new cmd heading: 11.672736 deg.

2021-08-14T23:50:52.613Z,1628985052.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:50:52.970Z,1628985052.970 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:50:52.970Z,1628985052.970 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:50:52.971Z,1628985052.971 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:50:52.972Z,1628985052.972 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:50:53.393Z,1628985053.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC3,000,00396,188,80,80,7F,FF
2021-08-14T23:50:53.393Z,1628985053.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:50:53.393Z,1628985053.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:50:53.395Z,1628985053.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:50:53.785Z,1628985053.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:50:54.193Z,1628985054.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0038C,189,80,80,54,FF
2021-08-14T23:50:54.194Z,1628985054.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:50:54.273Z,1628985054.273 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:50:54.617Z,1628985054.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235054.58*56

2021-08-14T23:50:54.696Z,1628985054.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.980001 m, bearing: 106.921243 deg, deltaT: 4.447023 s, approachRate: -0.134921 m/s, LOS rate: 8.029014 deg/s, posRepo size: 4
2021-08-14T23:50:54.706Z,1628985054.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.980001 m,
      bearing: 106.921243 deg,
      approachRate: -0.134921 m/s,
      LOS rate: 8.029014 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 69.984674 deg,
      new cmd heading: 75.124070 deg.

2021-08-14T23:50:56.235Z,1628985056.235 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:50:57.035Z,1628985057.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:50:57.445Z,1628985057.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:50:57.445Z,1628985057.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:50:57.445Z,1628985057.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:50:57.446Z,1628985057.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:50:57.836Z,1628985057.836 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0038C,189,80,80,54,FF
2021-08-14T23:50:57.836Z,1628985057.836 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:50:57.837Z,1628985057.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:50:57.838Z,1628985057.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:50:58.240Z,1628985058.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:50:58.637Z,1628985058.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA1,000,00380,189,80,80,8F,FF
2021-08-14T23:50:58.637Z,1628985058.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:50:58.668Z,1628985058.668 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:50:59.061Z,1628985059.061 [Micromodem](INFO): Nmea in: $SNTTA,0.050829,,,,235059.03*4D

2021-08-14T23:50:59.084Z,1628985059.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.260000 m, bearing: 73.164993 deg, deltaT: 4.395613 s, approachRate: -0.163800 m/s, LOS rate: -7.679532 deg/s, posRepo size: 4
2021-08-14T23:50:59.084Z,1628985059.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 16.26 m.
2021-08-14T23:50:59.086Z,1628985059.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.260000 m,
      bearing: 73.164993 deg,
      approachRate: -0.163800 m/s,
      LOS rate: -7.679532 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 122.913892 deg,
      new cmd heading: 127.932700 deg.

2021-08-14T23:51:01.510Z,1628985061.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:51:01.869Z,1628985061.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:51:01.870Z,1628985061.870 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:51:01.870Z,1628985061.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:51:01.871Z,1628985061.871 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:51:02.274Z,1628985062.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA1,000,00380,189,80,80,8F,FF
2021-08-14T23:51:02.274Z,1628985062.274 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:51:02.274Z,1628985062.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:51:02.277Z,1628985062.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:51:02.669Z,1628985062.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:51:03.080Z,1628985063.080 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00380,189,80,80,6D,FF
2021-08-14T23:51:03.080Z,1628985063.080 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:51:03.106Z,1628985063.106 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:51:03.514Z,1628985063.514 [Micromodem](INFO): Nmea in: $SNTTA,0.026833,,,,235103.47*49

2021-08-14T23:51:03.613Z,1628985063.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.260000 m, bearing: 120.319041 deg, deltaT: 4.437128 s, approachRate: 0.000000 m/s, LOS rate: 10.627155 deg/s, posRepo size: 4
2021-08-14T23:51:03.620Z,1628985063.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.260000 m,
      bearing: 120.319041 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 10.627155 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 69.667754 deg,
      new cmd heading: 63.614762 deg.

2021-08-14T23:51:04.310Z,1628985064.310 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:51:05.981Z,1628985065.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:51:06.319Z,1628985066.319 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:51:06.319Z,1628985066.319 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:51:06.319Z,1628985066.319 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:51:06.320Z,1628985066.320 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:51:06.709Z,1628985066.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00380,189,80,80,6D,FF
2021-08-14T23:51:06.709Z,1628985066.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:51:06.709Z,1628985066.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:51:06.711Z,1628985066.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:51:07.129Z,1628985067.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:51:07.530Z,1628985067.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37A,000,00373,189,80,80,36,FF
2021-08-14T23:51:07.530Z,1628985067.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:51:07.589Z,1628985067.589 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:51:07.987Z,1628985067.987 [Micromodem](INFO): Nmea in: $SNTTA,0.035179,,,,235107.90*42

2021-08-14T23:51:08.047Z,1628985068.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.479998 m, bearing: 29.134411 deg, deltaT: 4.483111 s, approachRate: -0.173987 m/s, LOS rate: -20.339588 deg/s, posRepo size: 4
2021-08-14T23:51:08.047Z,1628985068.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 15.48 m.
2021-08-14T23:51:08.052Z,1628985068.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.339588 deg/s. Setting heading cmd to target bearing of 29.134411deg and heading rate command to 0 deg/s.
2021-08-14T23:51:10.416Z,1628985070.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:51:10.749Z,1628985070.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:51:10.749Z,1628985070.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:51:10.749Z,1628985070.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:51:10.750Z,1628985070.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:51:11.158Z,1628985071.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37A,000,00373,189,80,80,36,FF
2021-08-14T23:51:11.158Z,1628985071.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:51:11.158Z,1628985071.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:51:11.160Z,1628985071.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:51:11.564Z,1628985071.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:51:11.985Z,1628985071.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0035A,189,80,80,82,FF
2021-08-14T23:51:11.986Z,1628985071.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:51:12.157Z,1628985072.157 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:51:12.417Z,1628985072.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235112.35*5E

2021-08-14T23:51:12.465Z,1628985072.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.980000 m, bearing: 152.592259 deg, deltaT: 4.568189 s, approachRate: -0.328357 m/s, LOS rate: 27.025558 deg/s, posRepo size: 4
2021-08-14T23:51:12.466Z,1628985072.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 27.025558 deg/s. Setting heading cmd to target bearing of 152.592259deg and heading rate command to 0 deg/s.
2021-08-14T23:51:14.815Z,1628985074.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:51:15.193Z,1628985075.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:51:15.193Z,1628985075.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:51:15.193Z,1628985075.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:51:15.194Z,1628985075.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:51:15.605Z,1628985075.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0035A,189,80,80,82,FF
2021-08-14T23:51:15.605Z,1628985075.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:51:15.605Z,1628985075.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:51:15.607Z,1628985075.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:51:16.017Z,1628985076.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:51:16.433Z,1628985076.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00345,189,80,80,76,FF
2021-08-14T23:51:16.434Z,1628985076.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:51:16.465Z,1628985076.465 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:51:16.846Z,1628985076.846 [Micromodem](INFO): Nmea in: $SNTTA,0.024654,,,,235116.79*4D

2021-08-14T23:51:16.862Z,1628985076.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.719999 m, bearing: 159.904154 deg, deltaT: 4.307774 s, approachRate: -0.292495 m/s, LOS rate: 1.697372 deg/s, posRepo size: 4
2021-08-14T23:51:16.865Z,1628985076.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.719999 m,
      bearing: 159.904154 deg,
      approachRate: -0.292495 m/s,
      LOS rate: 1.697372 deg/s,
      cmd update: 6.789488 deg/s,
      cmd heading: 152.592259 deg,
      new cmd heading: 152.592259 deg.

2021-08-14T23:51:19.293Z,1628985079.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:51:19.637Z,1628985079.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:51:19.637Z,1628985079.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:51:19.637Z,1628985079.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:51:19.638Z,1628985079.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:51:20.049Z,1628985080.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00345,189,80,80,76,FF
2021-08-14T23:51:20.049Z,1628985080.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:51:20.049Z,1628985080.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:51:20.051Z,1628985080.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:51:20.449Z,1628985080.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:51:20.857Z,1628985080.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCB,000,0033A,189,80,80,86,FF
2021-08-14T23:51:20.858Z,1628985080.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:51:20.917Z,1628985080.917 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:51:21.302Z,1628985081.302 [Micromodem](INFO): Nmea in: $SNTTA,0.028373,,,,235121.24*4D

2021-08-14T23:51:21.324Z,1628985081.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.059997 m, bearing: 113.449422 deg, deltaT: 4.452765 s, approachRate: -0.148223 m/s, LOS rate: -10.432784 deg/s, posRepo size: 4
2021-08-14T23:51:21.326Z,1628985081.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 113.449422 deg,
      approachRate: -0.148223 m/s,
      LOS rate: -10.432784 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 182.822441 deg,
      new cmd heading: 185.602071 deg.

2021-08-14T23:51:23.707Z,1628985083.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:51:24.094Z,1628985084.094 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:51:24.094Z,1628985084.094 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:51:24.094Z,1628985084.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:51:24.095Z,1628985084.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:51:24.485Z,1628985084.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCB,000,0033A,189,80,80,86,FF
2021-08-14T23:51:24.485Z,1628985084.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:51:24.485Z,1628985084.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:51:24.487Z,1628985084.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:51:24.897Z,1628985084.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:51:25.297Z,1628985085.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D11,000,0033A,188,80,80,6C,FF
2021-08-14T23:51:25.298Z,1628985085.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:51:25.412Z,1628985085.412 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:51:25.729Z,1628985085.729 [Micromodem](INFO): Nmea in: $SNTTA,0.042423,,,,235125.67*40

2021-08-14T23:51:25.760Z,1628985085.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.059997 m, bearing: 134.883887 deg, deltaT: 4.494697 s, approachRate: 0.000000 m/s, LOS rate: 4.768834 deg/s, posRepo size: 4
2021-08-14T23:51:25.762Z,1628985085.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 134.883887 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.768834 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 128.990332 deg,
      new cmd heading: 124.676788 deg.

2021-08-14T23:51:26.138Z,1628985086.138 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T23:51:28.166Z,1628985088.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:51:28.521Z,1628985088.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:51:28.521Z,1628985088.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:51:28.521Z,1628985088.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:51:28.522Z,1628985088.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:51:28.933Z,1628985088.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D11,000,0033A,188,80,80,6C,FF
2021-08-14T23:51:28.934Z,1628985088.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:51:28.934Z,1628985088.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:51:28.936Z,1628985088.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:51:29.344Z,1628985089.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:51:29.741Z,1628985089.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF0,000,00333,189,80,80,92,FF
2021-08-14T23:51:29.741Z,1628985089.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:51:29.801Z,1628985089.801 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:51:30.181Z,1628985090.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235130.12*5B

2021-08-14T23:51:30.230Z,1628985090.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.640002 m, bearing: 151.566815 deg, deltaT: 4.388901 s, approachRate: -0.095695 m/s, LOS rate: 3.801163 deg/s, posRepo size: 4
2021-08-14T23:51:30.232Z,1628985090.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.640002 m,
      bearing: 151.566815 deg,
      approachRate: -0.095695 m/s,
      LOS rate: 3.801163 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 181.715730 deg,
      new cmd heading: 186.948270 deg.

2021-08-14T23:51:32.605Z,1628985092.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:51:32.973Z,1628985092.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:51:32.973Z,1628985092.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:51:32.973Z,1628985092.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:51:32.974Z,1628985092.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:51:33.386Z,1628985093.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF0,000,00333,189,80,80,92,FF
2021-08-14T23:51:33.387Z,1628985093.387 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:51:33.387Z,1628985093.387 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:51:33.400Z,1628985093.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:51:33.785Z,1628985093.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:51:33.797Z,1628985093.797 [PowerOnly](INFO): Powering down loadControl
2021-08-14T23:51:34.182Z,1628985094.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB3,000,00331,189,80,80,84,FF
2021-08-14T23:51:34.182Z,1628985094.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:51:34.234Z,1628985094.234 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:51:34.603Z,1628985094.603 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235134.59*50

2021-08-14T23:51:34.656Z,1628985094.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 170.165434 deg, deltaT: 4.433536 s, approachRate: -0.027067 m/s, LOS rate: 4.194985 deg/s, posRepo size: 4
2021-08-14T23:51:34.656Z,1628985094.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 11.52 m.
2021-08-14T23:51:34.658Z,1628985094.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 170.165434 deg,
      approachRate: -0.027067 m/s,
      LOS rate: 4.194985 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 234.811015 deg,
      new cmd heading: 239.928343 deg.

2021-08-14T23:51:37.023Z,1628985097.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:51:37.433Z,1628985097.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:51:37.433Z,1628985097.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:51:37.433Z,1628985097.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:51:37.434Z,1628985097.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:51:37.825Z,1628985097.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB3,000,00331,189,80,80,84,FF
2021-08-14T23:51:37.825Z,1628985097.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:51:37.825Z,1628985097.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:51:37.827Z,1628985097.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:51:38.225Z,1628985098.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:51:38.647Z,1628985098.647 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD9,000,00324,189,80,80,9E,FF
2021-08-14T23:51:38.647Z,1628985098.647 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:51:38.706Z,1628985098.706 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:51:39.068Z,1628985099.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 182.749976 deg, deltaT: 4.471408 s, approachRate: -0.174442 m/s, LOS rate: 2.814447 deg/s, posRepo size: 4
2021-08-14T23:51:39.070Z,1628985099.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.739998 m,
      bearing: 182.749976 deg,
      approachRate: -0.174442 m/s,
      LOS rate: 2.814447 deg/s,
      cmd update: 11.257788 deg/s,
      cmd heading: 288.574820 deg,
      new cmd heading: 293.004068 deg.

2021-08-14T23:51:41.501Z,1628985101.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:51:41.857Z,1628985101.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:51:41.857Z,1628985101.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:51:41.858Z,1628985101.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:51:41.859Z,1628985101.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:51:42.258Z,1628985102.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD9,000,00324,189,80,80,9E,FF
2021-08-14T23:51:42.258Z,1628985102.258 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:51:42.258Z,1628985102.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:51:42.261Z,1628985102.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:51:42.660Z,1628985102.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:51:43.066Z,1628985103.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC9,000,0031D,189,80,80,8A,FF
2021-08-14T23:51:43.066Z,1628985103.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:51:43.091Z,1628985103.091 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:51:43.505Z,1628985103.505 [Micromodem](INFO): Nmea in: $SNTTA,0.020455,,,,235143.45*45

2021-08-14T23:51:43.558Z,1628985103.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.319998 m, bearing: 201.647046 deg, deltaT: 4.385135 s, approachRate: -0.095778 m/s, LOS rate: 4.309347 deg/s, posRepo size: 4
2021-08-14T23:51:43.562Z,1628985103.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.319998 m,
      bearing: 201.647046 deg,
      approachRate: -0.095778 m/s,
      LOS rate: 4.309347 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 337.987156 deg,
      new cmd heading: 343.277652 deg.

2021-08-14T23:51:45.961Z,1628985105.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:51:46.301Z,1628985106.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:51:46.301Z,1628985106.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:51:46.301Z,1628985106.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:51:46.302Z,1628985106.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:51:46.701Z,1628985106.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC9,000,0031D,189,80,80,8A,FF
2021-08-14T23:51:46.701Z,1628985106.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:51:46.701Z,1628985106.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:51:46.703Z,1628985106.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:51:47.105Z,1628985107.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:51:47.514Z,1628985107.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD1,000,00318,189,80,80,A6,FF
2021-08-14T23:51:47.514Z,1628985107.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:51:47.544Z,1628985107.544 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:51:47.973Z,1628985107.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235147.89*59

2021-08-14T23:51:48.020Z,1628985108.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.019998 m, bearing: 219.274453 deg, deltaT: 4.452996 s, approachRate: -0.067370 m/s, LOS rate: 3.958550 deg/s, posRepo size: 4
2021-08-14T23:51:48.020Z,1628985108.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 10.02 m.
2021-08-14T23:51:48.022Z,1628985108.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.019998 m,
      bearing: 219.274453 deg,
      approachRate: -0.067370 m/s,
      LOS rate: 3.958550 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 31.420361 deg,
      new cmd heading: 37.166741 deg.

2021-08-14T23:51:50.397Z,1628985110.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:51:50.745Z,1628985110.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:51:50.745Z,1628985110.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:51:50.745Z,1628985110.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:51:50.746Z,1628985110.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:51:51.156Z,1628985111.156 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD1,000,00318,189,80,80,A6,FF
2021-08-14T23:51:51.157Z,1628985111.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:51:51.157Z,1628985111.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:51:51.158Z,1628985111.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:51:51.560Z,1628985111.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:51:51.985Z,1628985111.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBC,000,00314,18A,80,80,69,FF
2021-08-14T23:51:51.986Z,1628985111.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:51:52.078Z,1628985112.078 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:51:52.413Z,1628985112.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235152.34*5B

2021-08-14T23:51:52.446Z,1628985112.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.780002 m, bearing: 205.474111 deg, deltaT: 4.533893 s, approachRate: -0.052934 m/s, LOS rate: -3.043817 deg/s, posRepo size: 4
2021-08-14T23:51:52.447Z,1628985112.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 9.78 m.
2021-08-14T23:51:52.449Z,1628985112.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.780002 m,
      bearing: 205.474111 deg,
      approachRate: -0.052934 m/s,
      LOS rate: -3.043817 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 85.822519 deg,
      new cmd heading: 90.288823 deg.

2021-08-14T23:51:54.803Z,1628985114.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:51:55.181Z,1628985115.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:51:55.181Z,1628985115.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:51:55.181Z,1628985115.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:51:55.182Z,1628985115.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:51:55.600Z,1628985115.600 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBC,000,00314,18A,80,80,69,FF
2021-08-14T23:51:55.601Z,1628985115.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:51:55.601Z,1628985115.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:51:55.603Z,1628985115.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:51:56.025Z,1628985116.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:51:56.838Z,1628985116.838 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235156.79*56

2021-08-14T23:51:57.254Z,1628985117.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,249,000,03622,18A,80,80,69,FF
2021-08-14T23:51:57.255Z,1628985117.255 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:51:57.310Z,1628985117.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:51:57.675Z,1628985117.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 793.979980 m, bearing: 128.359281 deg, deltaT: 5.232060 s, approachRate: 149.883591 m/s, LOS rate: -14.738904 deg/s, posRepo size: 4
2021-08-14T23:51:57.675Z,1628985117.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 793.98 m.
2021-08-14T23:51:57.676Z,1628985117.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.738904 deg/s. Setting heading cmd to target bearing of 128.359281deg and heading rate command to 0 deg/s.
2021-08-14T23:51:58.094Z,1628985118.094 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T23:51:58.094Z,1628985118.094 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T23:51:58.094Z,1628985118.094 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T23:51:58.095Z,1628985118.095 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T23:51:58.095Z,1628985118.095 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T23:51:58.095Z,1628985118.095 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T23:51:58.485Z,1628985118.485 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T23:51:58.485Z,1628985118.485 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T23:51:58.485Z,1628985118.485 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T23:51:58.485Z,1628985118.485 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T23:52:00.115Z,1628985120.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:52:00.465Z,1628985120.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:52:00.465Z,1628985120.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:52:00.466Z,1628985120.466 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:52:00.467Z,1628985120.467 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:52:00.861Z,1628985120.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
249,000,03622,18A,80,80,69,FF
2021-08-14T23:52:00.861Z,1628985120.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:52:00.862Z,1628985120.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:52:00.863Z,1628985120.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:52:01.281Z,1628985121.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:52:01.669Z,1628985121.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,0035F,187,80,80,40,FF
2021-08-14T23:52:01.669Z,1628985121.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:52:02.113Z,1628985122.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235202.05*5F

2021-08-14T23:52:02.179Z,1628985122.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.280000 m, bearing: 153.154015 deg, deltaT: 4.423414 s, approachRate: -176.266556 m/s, LOS rate: 5.605339 deg/s, posRepo size: 4
2021-08-14T23:52:02.186Z,1628985122.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.280000 m,
      bearing: 153.154015 deg,
      approachRate: -176.266556 m/s,
      LOS rate: 5.605339 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 128.359281 deg,
      new cmd heading: 128.359281 deg.

2021-08-14T23:52:02.532Z,1628985122.532 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T23:52:02.532Z,1628985122.532 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T23:52:02.533Z,1628985122.533 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T23:52:02.533Z,1628985122.533 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T23:52:02.533Z,1628985122.533 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T23:52:02.533Z,1628985122.533 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T23:52:02.921Z,1628985122.921 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T23:52:02.922Z,1628985122.922 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T23:52:02.922Z,1628985122.922 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T23:52:02.922Z,1628985122.922 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T23:52:04.562Z,1628985124.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:52:04.905Z,1628985124.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:52:04.905Z,1628985124.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:52:04.905Z,1628985124.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:52:04.906Z,1628985124.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:52:05.349Z,1628985125.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,0035F,187,80,80,40,FF
2021-08-14T23:52:05.349Z,1628985125.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:52:05.349Z,1628985125.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:52:05.351Z,1628985125.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:52:05.730Z,1628985125.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:52:06.130Z,1628985126.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,00385,185,80,80,82,FF
2021-08-14T23:52:06.130Z,1628985126.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:52:06.233Z,1628985126.233 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:52:06.543Z,1628985126.543 [Micromodem](INFO): Nmea in: $SNTTA,0.055997,,,,235206.54*46

2021-08-14T23:52:06.589Z,1628985126.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.559999 m, bearing: 128.487524 deg, deltaT: 4.499980 s, approachRate: 0.506669 m/s, LOS rate: -5.481467 deg/s, posRepo size: 4
2021-08-14T23:52:06.591Z,1628985126.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.559999 m,
      bearing: 128.487524 deg,
      approachRate: 0.506669 m/s,
      LOS rate: -5.481467 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 182.404042 deg,
      new cmd heading: 186.752338 deg.

2021-08-14T23:52:08.982Z,1628985128.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:52:09.349Z,1628985129.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:52:09.349Z,1628985129.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:52:09.350Z,1628985129.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:52:09.350Z,1628985129.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:52:09.765Z,1628985129.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,00385,185,80,80,82,FF
2021-08-14T23:52:09.765Z,1628985129.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:52:09.765Z,1628985129.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:52:09.767Z,1628985129.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:52:10.166Z,1628985130.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:52:10.569Z,1628985130.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,003A6,186,80,80,5C,FF
2021-08-14T23:52:10.570Z,1628985130.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:52:10.624Z,1628985130.624 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:52:11.021Z,1628985131.021 [Micromodem](INFO): Nmea in: $SNTTA,0.052310,,,,235210.95*4E

2021-08-14T23:52:11.037Z,1628985131.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.540001 m, bearing: 127.221071 deg, deltaT: 4.390568 s, approachRate: 0.450967 m/s, LOS rate: -0.288449 deg/s, posRepo size: 4
2021-08-14T23:52:11.039Z,1628985131.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.540001 m,
      bearing: 127.221071 deg,
      approachRate: 0.450967 m/s,
      LOS rate: -0.288449 deg/s,
      cmd update: -1.153795 deg/s,
      cmd heading: 129.772316 deg,
      new cmd heading: 124.671440 deg.

2021-08-14T23:52:13.462Z,1628985133.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:52:13.794Z,1628985133.794 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:52:13.794Z,1628985133.794 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:52:13.794Z,1628985133.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:52:13.795Z,1628985133.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:52:14.204Z,1628985134.204 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEB,000,003A6,186,80,80,5C,FF
2021-08-14T23:52:14.204Z,1628985134.204 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:52:14.204Z,1628985134.204 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:52:14.207Z,1628985134.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:52:14.616Z,1628985134.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:52:15.017Z,1628985135.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,003DB,183,80,80,5E,FF
2021-08-14T23:52:15.018Z,1628985135.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:52:15.051Z,1628985135.051 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:52:15.457Z,1628985135.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235215.39*56

2021-08-14T23:52:15.494Z,1628985135.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 126.076850 deg, deltaT: 4.426715 s, approachRate: 0.718366 m/s, LOS rate: -0.258481 deg/s, posRepo size: 4
2021-08-14T23:52:15.496Z,1628985135.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.720001 m,
      bearing: 126.076850 deg,
      approachRate: 0.718366 m/s,
      LOS rate: -0.258481 deg/s,
      cmd update: -1.033923 deg/s,
      cmd heading: 124.657138 deg,
      new cmd heading: 124.139844 deg.

2021-08-14T23:52:17.875Z,1628985137.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:52:18.245Z,1628985138.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:52:18.246Z,1628985138.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:52:18.246Z,1628985138.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:52:18.247Z,1628985138.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:52:18.665Z,1628985138.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,003DB,183,80,80,5E,FF
2021-08-14T23:52:18.665Z,1628985138.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:52:18.665Z,1628985138.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:52:18.667Z,1628985138.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:52:19.060Z,1628985139.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:52:19.457Z,1628985139.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,00402,186,80,80,46,FF
2021-08-14T23:52:19.458Z,1628985139.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:52:19.512Z,1628985139.512 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:52:19.893Z,1628985139.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235219.85*5D

2021-08-14T23:52:19.967Z,1628985139.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.059999 m, bearing: 145.296879 deg, deltaT: 4.461690 s, approachRate: 0.524465 m/s, LOS rate: 4.307791 deg/s, posRepo size: 4
2021-08-14T23:52:19.967Z,1628985139.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 24.06 m. Rolling out.
2021-08-14T23:52:19.972Z,1628985139.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T23:52:22.348Z,1628985142.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:52:22.685Z,1628985142.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:52:22.685Z,1628985142.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:52:22.685Z,1628985142.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:52:22.686Z,1628985142.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:52:23.101Z,1628985143.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,00402,186,80,80,46,FF
2021-08-14T23:52:23.101Z,1628985143.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:52:23.101Z,1628985143.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:52:23.103Z,1628985143.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:52:23.497Z,1628985143.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:52:24.340Z,1628985144.340 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235224.29*55

2021-08-14T23:52:25.127Z,1628985145.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:52:26.725Z,1628985146.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,46,FF
2021-08-14T23:52:26.725Z,1628985146.725 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,46,FF
2021-08-14T23:52:26.725Z,1628985146.725 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:52:28.103Z,1628985148.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:52:28.358Z,1628985148.358 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:52:28.358Z,1628985148.358 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:52:28.359Z,1628985148.359 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:52:28.360Z,1628985148.360 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:52:28.745Z,1628985148.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,46,FF
2021-08-14T23:52:28.745Z,1628985148.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:52:28.745Z,1628985148.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:52:28.747Z,1628985148.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:52:29.156Z,1628985149.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:52:29.986Z,1628985149.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235229.93*59

2021-08-14T23:52:30.895Z,1628985150.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:52:32.413Z,1628985152.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,46,FF
2021-08-14T23:52:32.413Z,1628985152.413 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,46,FF
2021-08-14T23:52:32.414Z,1628985152.414 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:52:33.674Z,1628985153.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:52:33.997Z,1628985153.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:52:33.997Z,1628985153.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:52:33.998Z,1628985153.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:52:33.999Z,1628985153.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:52:34.441Z,1628985154.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,46,FF
2021-08-14T23:52:34.441Z,1628985154.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:52:34.442Z,1628985154.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:52:34.443Z,1628985154.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:52:34.841Z,1628985154.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:52:35.205Z,1628985155.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,004B2,187,80,80,65,FF
2021-08-14T23:52:35.206Z,1628985155.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:52:35.253Z,1628985155.253 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:52:35.639Z,1628985155.639 [Micromodem](INFO): Nmea in: $SNTTA,0.027176,,,,235235.63*40

2021-08-14T23:52:35.682Z,1628985155.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.620003 m, bearing: 130.987988 deg, deltaT: 15.740622 s, approachRate: 0.670876 m/s, LOS rate: -0.909042 deg/s, posRepo size: 4
2021-08-14T23:52:38.085Z,1628985158.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:52:38.445Z,1628985158.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:52:38.445Z,1628985158.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:52:38.445Z,1628985158.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:52:38.446Z,1628985158.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:52:38.846Z,1628985158.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,004B2,187,80,80,65,FF
2021-08-14T23:52:38.846Z,1628985158.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:52:38.846Z,1628985158.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:52:38.848Z,1628985158.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:52:39.251Z,1628985159.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:52:39.661Z,1628985159.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,004DB,183,80,80,77,FF
2021-08-14T23:52:39.662Z,1628985159.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:52:39.712Z,1628985159.712 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:52:40.098Z,1628985160.098 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235240.04*58

2021-08-14T23:52:40.134Z,1628985160.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.080002 m, bearing: 123.070856 deg, deltaT: 4.458843 s, approachRate: 0.551712 m/s, LOS rate: -1.775602 deg/s, posRepo size: 4
2021-08-14T23:52:42.529Z,1628985162.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:52:42.889Z,1628985162.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:52:42.889Z,1628985162.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:52:42.889Z,1628985162.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:52:42.890Z,1628985162.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:52:43.297Z,1628985163.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,004DB,183,80,80,77,FF
2021-08-14T23:52:43.297Z,1628985163.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:52:43.298Z,1628985163.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:52:43.299Z,1628985163.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:52:43.712Z,1628985163.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:52:44.093Z,1628985164.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00510,185,80,80,3F,FF
2021-08-14T23:52:44.093Z,1628985164.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:52:44.203Z,1628985164.203 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T23:52:44.537Z,1628985164.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235244.49*55

2021-08-14T23:52:44.567Z,1628985164.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.259998 m, bearing: 122.182536 deg, deltaT: 4.490969 s, approachRate: 0.708087 m/s, LOS rate: -0.197802 deg/s, posRepo size: 4
2021-08-14T23:52:44.947Z,1628985164.947 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T23:52:44.947Z,1628985164.947 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T23:52:44.947Z,1628985164.947 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T23:52:44.948Z,1628985164.948 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T23:52:44.948Z,1628985164.948 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T23:52:44.948Z,1628985164.948 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T23:52:45.342Z,1628985165.342 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T23:52:45.343Z,1628985165.343 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T23:52:45.343Z,1628985165.343 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T23:52:45.343Z,1628985165.343 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T23:52:46.948Z,1628985166.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:52:47.339Z,1628985167.339 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:52:47.339Z,1628985167.339 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:52:47.339Z,1628985167.339 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:52:47.366Z,1628985167.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:52:47.737Z,1628985167.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00510,185,80,80,3F,FF
2021-08-14T23:52:47.737Z,1628985167.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:52:47.737Z,1628985167.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:52:47.739Z,1628985167.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:52:48.151Z,1628985168.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:52:48.537Z,1628985168.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AA,000,00539,186,80,80,62,FF
2021-08-14T23:52:48.537Z,1628985168.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:52:48.981Z,1628985168.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235248.93*5E

2021-08-14T23:52:48.997Z,1628985168.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.719997 m, bearing: 104.553066 deg, deltaT: 4.392956 s, approachRate: 0.559987 m/s, LOS rate: -4.013122 deg/s, posRepo size: 4
2021-08-14T23:52:51.450Z,1628985171.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:52:51.769Z,1628985171.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:52:51.769Z,1628985171.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:52:51.769Z,1628985171.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:52:51.770Z,1628985171.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:52:52.173Z,1628985172.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AA,000,00539,186,80,80,62,FF
2021-08-14T23:52:52.173Z,1628985172.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:52:52.173Z,1628985172.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:52:52.175Z,1628985172.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:52:52.643Z,1628985172.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:52:53.025Z,1628985173.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,005B2,184,80,80,4C,FF
2021-08-14T23:52:53.025Z,1628985173.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:52:53.461Z,1628985173.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235253.36*5B

2021-08-14T23:52:53.509Z,1628985173.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.980003 m, bearing: 129.960400 deg, deltaT: 4.449174 s, approachRate: 1.631765 m/s, LOS rate: 5.710573 deg/s, posRepo size: 4
2021-08-14T23:52:55.952Z,1628985175.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:52:56.258Z,1628985176.258 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:52:56.258Z,1628985176.258 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:52:56.258Z,1628985176.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:52:56.259Z,1628985176.259 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:52:56.662Z,1628985176.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,005B2,184,80,80,4C,FF
2021-08-14T23:52:56.662Z,1628985176.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:52:56.662Z,1628985176.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:52:56.664Z,1628985176.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:52:57.061Z,1628985177.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:52:57.896Z,1628985177.896 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,01318,187,80,80,65,FF
2021-08-14T23:52:57.897Z,1628985177.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:52:57.909Z,1628985177.909 [Micromodem](INFO): Nmea in: $SNTTA,0.046042,,,,235257.85*4D

2021-08-14T23:52:58.324Z,1628985178.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.779984 m, bearing: 139.330750 deg, deltaT: 4.932825 s, approachRate: 41.720512 m/s, LOS rate: 1.899591 deg/s, posRepo size: 4
2021-08-14T23:53:00.752Z,1628985180.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:53:01.101Z,1628985181.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:53:01.101Z,1628985181.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:53:01.101Z,1628985181.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:53:01.102Z,1628985181.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:53:01.505Z,1628985181.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,01318,187,80,80,65,FF
2021-08-14T23:53:01.505Z,1628985181.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:53:01.506Z,1628985181.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:53:01.507Z,1628985181.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:53:01.949Z,1628985181.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:53:02.321Z,1628985182.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,005D8,184,80,80,95,FF
2021-08-14T23:53:02.321Z,1628985182.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:53:02.325Z,1628985182.325 [Micromodem](INFO): Nmea in: $SNTTA,0.143809,0.143578,,,235302.69*5F

2021-08-14T23:53:02.762Z,1628985182.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.260002 m, bearing: 129.655528 deg, deltaT: 4.441116 s, approachRate: -45.826317 m/s, LOS rate: -2.178556 deg/s, posRepo size: 4
2021-08-14T23:53:05.167Z,1628985185.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:53:05.545Z,1628985185.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:53:05.545Z,1628985185.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:53:05.545Z,1628985185.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:53:05.546Z,1628985185.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:53:05.989Z,1628985185.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,005D8,184,80,80,95,FF
2021-08-14T23:53:05.989Z,1628985185.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:53:05.991Z,1628985185.991 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:53:05.993Z,1628985185.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:53:06.393Z,1628985186.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:53:06.757Z,1628985186.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,00608,186,80,80,8A,FF
2021-08-14T23:53:06.758Z,1628985186.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:53:07.179Z,1628985187.179 [Micromodem](INFO): Nmea in: $SNTTA,0.068901,,,,235307.18*4F

2021-08-14T23:53:07.220Z,1628985187.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.140003 m, bearing: 135.925614 deg, deltaT: 4.390972 s, approachRate: 0.655891 m/s, LOS rate: 1.427950 deg/s, posRepo size: 4
2021-08-14T23:53:09.618Z,1628985189.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:53:09.997Z,1628985189.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:53:09.997Z,1628985189.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:53:09.997Z,1628985189.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:53:09.998Z,1628985189.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:53:10.429Z,1628985190.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,00608,186,80,80,8A,FF
2021-08-14T23:53:10.429Z,1628985190.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:53:10.430Z,1628985190.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:53:10.431Z,1628985190.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:53:10.813Z,1628985190.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:53:11.201Z,1628985191.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,307,000,0063C,189,80,80,4D,FF
2021-08-14T23:53:11.201Z,1628985191.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:53:11.627Z,1628985191.627 [Micromodem](INFO): Nmea in: $SNTTA,0.090272,,,,235311.62*4D

2021-08-14T23:53:11.673Z,1628985191.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.260006 m, bearing: 86.063696 deg, deltaT: 4.440747 s, approachRate: 0.702585 m/s, LOS rate: -11.228273 deg/s, posRepo size: 4
2021-08-14T23:53:14.076Z,1628985194.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:53:14.441Z,1628985194.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:53:14.441Z,1628985194.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:53:14.442Z,1628985194.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:53:14.443Z,1628985194.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:53:14.845Z,1628985194.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
307,000,0063C,189,80,80,4D,FF
2021-08-14T23:53:14.845Z,1628985194.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:53:14.845Z,1628985194.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:53:14.847Z,1628985194.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:53:15.258Z,1628985195.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:53:15.645Z,1628985195.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,201,000,0066B,187,80,80,77,FF
2021-08-14T23:53:15.646Z,1628985195.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:53:16.093Z,1628985196.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235316.04*5A

2021-08-14T23:53:16.157Z,1628985196.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.080002 m, bearing: 99.433395 deg, deltaT: 4.483084 s, approachRate: 0.629030 m/s, LOS rate: 2.982255 deg/s, posRepo size: 4
2021-08-14T23:53:18.508Z,1628985198.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:53:18.877Z,1628985198.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:53:18.877Z,1628985198.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:53:18.877Z,1628985198.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:53:18.878Z,1628985198.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:53:19.285Z,1628985199.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
201,000,0066B,187,80,80,77,FF
2021-08-14T23:53:19.285Z,1628985199.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:53:19.285Z,1628985199.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:53:19.287Z,1628985199.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:53:19.689Z,1628985199.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:53:20.523Z,1628985200.523 [Micromodem](INFO): Nmea in: $SNTTA,0.250724,,,,235320.48*4F

2021-08-14T23:53:21.363Z,1628985201.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:53:22.929Z,1628985202.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,187,80,80,77,FF
2021-08-14T23:53:22.929Z,1628985202.929 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,187,80,80,77,FF
2021-08-14T23:53:22.929Z,1628985202.929 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:53:24.175Z,1628985204.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:53:24.548Z,1628985204.548 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:53:24.548Z,1628985204.548 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:53:24.548Z,1628985204.548 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:53:24.549Z,1628985204.549 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:53:24.937Z,1628985204.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,187,80,80,77,FF
2021-08-14T23:53:24.937Z,1628985204.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:53:24.938Z,1628985204.938 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:53:24.939Z,1628985204.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:53:25.364Z,1628985205.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:53:25.765Z,1628985205.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21F,000,006D8,189,80,80,61,FF
2021-08-14T23:53:25.766Z,1628985205.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:53:26.186Z,1628985206.186 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235326.13*5F

2021-08-14T23:53:26.221Z,1628985206.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.619995 m, bearing: 98.032155 deg, deltaT: 10.054787 s, approachRate: 0.650436 m/s, LOS rate: -0.139361 deg/s, posRepo size: 4
2021-08-14T23:53:28.624Z,1628985208.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:53:28.985Z,1628985208.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:53:28.985Z,1628985208.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:53:28.985Z,1628985208.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:53:28.986Z,1628985208.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:53:29.413Z,1628985209.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21F,000,006D8,189,80,80,61,FF
2021-08-14T23:53:29.413Z,1628985209.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:53:29.413Z,1628985209.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:53:29.415Z,1628985209.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:53:29.804Z,1628985209.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:53:30.193Z,1628985210.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,268,000,00709,188,80,80,50,FF
2021-08-14T23:53:30.194Z,1628985210.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:53:30.634Z,1628985210.634 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235330.60*5C

2021-08-14T23:53:30.660Z,1628985210.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.559998 m, bearing: 94.769681 deg, deltaT: 4.507093 s, approachRate: 0.652306 m/s, LOS rate: -0.723853 deg/s, posRepo size: 4
2021-08-14T23:53:33.057Z,1628985213.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:53:33.441Z,1628985213.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:53:33.441Z,1628985213.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:53:33.441Z,1628985213.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:53:33.442Z,1628985213.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:53:33.833Z,1628985213.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
268,000,00709,188,80,80,50,FF
2021-08-14T23:53:33.833Z,1628985213.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:53:33.833Z,1628985213.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:53:33.835Z,1628985213.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:53:34.232Z,1628985214.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:53:34.649Z,1628985214.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,0073C,189,80,80,79,FF
2021-08-14T23:53:34.649Z,1628985214.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:53:35.078Z,1628985215.078 [Micromodem](INFO): Nmea in: $SNTTA,0.083647,,,,235335.03*4C

2021-08-14T23:53:35.100Z,1628985215.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.620003 m, bearing: 95.303856 deg, deltaT: 4.426906 s, approachRate: 0.691229 m/s, LOS rate: 0.120666 deg/s, posRepo size: 4
2021-08-14T23:53:37.499Z,1628985217.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:53:37.877Z,1628985217.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:53:37.877Z,1628985217.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:53:37.878Z,1628985217.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:53:37.880Z,1628985217.880 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:53:38.278Z,1628985218.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,0073C,189,80,80,79,FF
2021-08-14T23:53:38.279Z,1628985218.279 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:53:38.279Z,1628985218.279 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:53:38.281Z,1628985218.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:53:38.707Z,1628985218.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:53:39.086Z,1628985219.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00770,187,80,80,5D,FF
2021-08-14T23:53:39.086Z,1628985219.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:53:39.525Z,1628985219.525 [Micromodem](INFO): Nmea in: $SNTTA,,0.050400,,,235339.47*4F

2021-08-14T23:53:39.571Z,1628985219.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.739998 m, bearing: 147.523302 deg, deltaT: 4.383254 s, approachRate: 0.711799 m/s, LOS rate: 11.913397 deg/s, posRepo size: 4
2021-08-14T23:53:41.989Z,1628985221.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:53:42.333Z,1628985222.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:53:42.334Z,1628985222.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:53:42.334Z,1628985222.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:53:42.335Z,1628985222.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:53:42.734Z,1628985222.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00770,187,80,80,5D,FF
2021-08-14T23:53:42.734Z,1628985222.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:53:42.735Z,1628985222.735 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:53:42.737Z,1628985222.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:53:43.141Z,1628985223.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:53:43.538Z,1628985223.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,0079B,189,80,80,7C,FF
2021-08-14T23:53:43.538Z,1628985223.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:53:43.993Z,1628985223.993 [Micromodem](INFO): Nmea in: $SNTTA,0.058738,,,,235343.92*4A

2021-08-14T23:53:44.049Z,1628985224.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.320007 m, bearing: 91.576772 deg, deltaT: 4.506344 s, approachRate: 0.572528 m/s, LOS rate: -12.415060 deg/s, posRepo size: 4
2021-08-14T23:53:46.432Z,1628985226.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:53:46.765Z,1628985226.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:53:46.765Z,1628985226.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:53:46.766Z,1628985226.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:53:46.767Z,1628985226.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:53:47.169Z,1628985227.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,0079B,189,80,80,7C,FF
2021-08-14T23:53:47.169Z,1628985227.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:53:47.169Z,1628985227.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:53:47.171Z,1628985227.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:53:47.593Z,1628985227.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:53:47.989Z,1628985227.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,007D2,189,80,80,4F,FF
2021-08-14T23:53:47.990Z,1628985227.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:53:47.993Z,1628985227.993 [Micromodem](INFO): Nmea in: $SNTTA,0.244358,0.246058,,,235348.41*51

2021-08-14T23:53:48.453Z,1628985228.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.620003 m, bearing: 90.630613 deg, deltaT: 4.466665 s, approachRate: 0.738805 m/s, LOS rate: -0.211827 deg/s, posRepo size: 4
2021-08-14T23:53:50.876Z,1628985230.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:53:51.209Z,1628985231.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:53:51.209Z,1628985231.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:53:51.209Z,1628985231.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:53:51.210Z,1628985231.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:53:51.613Z,1628985231.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,007D2,189,80,80,4F,FF
2021-08-14T23:53:51.613Z,1628985231.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:53:51.613Z,1628985231.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:53:51.615Z,1628985231.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:53:52.021Z,1628985232.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:53:52.439Z,1628985232.439 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,007FB,186,80,80,64,FF
2021-08-14T23:53:52.439Z,1628985232.439 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:53:52.866Z,1628985232.866 [Micromodem](INFO): Nmea in: $SNTTA,0.056178,,,,235352.80*45

2021-08-14T23:53:52.893Z,1628985232.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.080002 m, bearing: 140.344733 deg, deltaT: 4.448290 s, approachRate: 0.553021 m/s, LOS rate: 11.176007 deg/s, posRepo size: 4
2021-08-14T23:53:55.290Z,1628985235.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:53:55.657Z,1628985235.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:53:55.657Z,1628985235.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:53:55.657Z,1628985235.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:53:55.658Z,1628985235.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:53:56.061Z,1628985236.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,007FB,186,80,80,64,FF
2021-08-14T23:53:56.062Z,1628985236.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:53:56.062Z,1628985236.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:53:56.063Z,1628985236.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:53:56.469Z,1628985236.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:53:56.865Z,1628985236.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B9,000,0082A,189,80,80,6D,FF
2021-08-14T23:53:56.866Z,1628985236.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:53:57.314Z,1628985237.314 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235357.26*5F

2021-08-14T23:53:57.347Z,1628985237.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.900002 m, bearing: 88.405871 deg, deltaT: 4.398828 s, approachRate: 0.641080 m/s, LOS rate: -11.807432 deg/s, posRepo size: 4
2021-08-14T23:53:59.806Z,1628985239.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:54:00.101Z,1628985240.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:54:00.101Z,1628985240.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:54:00.101Z,1628985240.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:54:00.102Z,1628985240.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:54:00.501Z,1628985240.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B9,000,0082A,189,80,80,6D,FF
2021-08-14T23:54:00.501Z,1628985240.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:54:00.501Z,1628985240.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:54:00.503Z,1628985240.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:54:00.927Z,1628985240.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:54:01.329Z,1628985241.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,0085E,186,80,80,43,FF
2021-08-14T23:54:01.330Z,1628985241.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:54:01.763Z,1628985241.763 [Micromodem](INFO): Nmea in: $SNTTA,0.066136,,,,235401.69*4A

2021-08-14T23:54:01.789Z,1628985241.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.020004 m, bearing: 137.047186 deg, deltaT: 4.515023 s, approachRate: 0.691027 m/s, LOS rate: 10.773216 deg/s, posRepo size: 4
2021-08-14T23:54:04.183Z,1628985244.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:54:04.541Z,1628985244.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:54:04.541Z,1628985244.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:54:04.541Z,1628985244.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:54:04.542Z,1628985244.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:54:04.945Z,1628985244.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,0085E,186,80,80,43,FF
2021-08-14T23:54:04.945Z,1628985244.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:54:04.945Z,1628985244.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:54:04.947Z,1628985244.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:54:05.372Z,1628985245.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:54:05.753Z,1628985245.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,00889,18A,80,80,70,FF
2021-08-14T23:54:05.754Z,1628985245.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:54:06.165Z,1628985246.165 [Micromodem](INFO): Nmea in: $SNTTA,0.067714,0.382204,,,235406.14*51

2021-08-14T23:54:06.218Z,1628985246.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.599998 m, bearing: 90.962123 deg, deltaT: 4.372879 s, approachRate: 0.589999 m/s, LOS rate: -10.538838 deg/s, posRepo size: 4
2021-08-14T23:54:08.614Z,1628985248.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:54:08.985Z,1628985248.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:54:08.985Z,1628985248.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:54:08.985Z,1628985248.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:54:08.986Z,1628985248.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:54:09.410Z,1628985249.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27F,000,00889,18A,80,80,70,FF
2021-08-14T23:54:09.410Z,1628985249.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:54:09.410Z,1628985249.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:54:09.411Z,1628985249.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:54:09.818Z,1628985249.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:54:10.197Z,1628985250.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35E,000,008B8,189,80,80,60,FF
2021-08-14T23:54:10.198Z,1628985250.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:54:10.633Z,1628985250.633 [Micromodem](INFO): Nmea in: $SNTTA,0.063735,,,,235410.60*43

2021-08-14T23:54:10.682Z,1628985250.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.420006 m, bearing: 79.957767 deg, deltaT: 4.514950 s, approachRate: 0.624593 m/s, LOS rate: -2.437315 deg/s, posRepo size: 4
2021-08-14T23:54:13.054Z,1628985253.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:54:13.445Z,1628985253.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:54:13.445Z,1628985253.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:54:13.445Z,1628985253.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:54:13.446Z,1628985253.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:54:13.841Z,1628985253.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35E,000,008B8,189,80,80,60,FF
2021-08-14T23:54:13.841Z,1628985253.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:54:13.841Z,1628985253.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:54:13.843Z,1628985253.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:54:14.262Z,1628985254.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:54:14.641Z,1628985254.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,008E7,189,80,80,69,FF
2021-08-14T23:54:14.642Z,1628985254.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:54:15.085Z,1628985255.085 [Micromodem](INFO): Nmea in: $SNTTA,0.065537,,,,235415.03*45

2021-08-14T23:54:15.115Z,1628985255.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.239998 m, bearing: 83.252998 deg, deltaT: 4.343268 s, approachRate: 0.649279 m/s, LOS rate: 0.758699 deg/s, posRepo size: 4
2021-08-14T23:54:17.514Z,1628985257.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:54:17.877Z,1628985257.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:54:17.878Z,1628985257.878 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:54:17.878Z,1628985257.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:54:17.880Z,1628985257.880 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:54:18.281Z,1628985258.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,008E7,189,80,80,69,FF
2021-08-14T23:54:18.281Z,1628985258.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:54:18.282Z,1628985258.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:54:18.283Z,1628985258.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:54:18.721Z,1628985258.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:54:19.085Z,1628985259.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,295,000,00916,189,80,80,79,FF
2021-08-14T23:54:19.086Z,1628985259.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:54:19.522Z,1628985259.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235419.47*55

2021-08-14T23:54:19.548Z,1628985259.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.059998 m, bearing: 90.498313 deg, deltaT: 4.464824 s, approachRate: 0.631604 m/s, LOS rate: 1.622755 deg/s, posRepo size: 4
2021-08-14T23:54:21.989Z,1628985261.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:54:22.313Z,1628985262.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:54:22.314Z,1628985262.314 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:54:22.314Z,1628985262.314 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:54:22.315Z,1628985262.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:54:22.721Z,1628985262.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
295,000,00916,189,80,80,79,FF
2021-08-14T23:54:22.722Z,1628985262.722 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:54:22.722Z,1628985262.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:54:22.723Z,1628985262.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:54:23.124Z,1628985263.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:54:23.533Z,1628985263.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,00945,186,80,80,69,FF
2021-08-14T23:54:23.534Z,1628985263.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:54:23.993Z,1628985263.993 [Micromodem](INFO): Nmea in: $SNTTA,0.075386,,,,235423.91*46

2021-08-14T23:54:24.058Z,1628985264.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.880005 m, bearing: 142.913840 deg, deltaT: 4.466305 s, approachRate: 0.631396 m/s, LOS rate: 11.735770 deg/s, posRepo size: 4
2021-08-14T23:54:26.420Z,1628985266.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:54:26.757Z,1628985266.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:54:26.757Z,1628985266.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:54:26.757Z,1628985266.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:54:26.758Z,1628985266.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:54:27.169Z,1628985267.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,00945,186,80,80,69,FF
2021-08-14T23:54:27.170Z,1628985267.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:54:27.170Z,1628985267.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:54:27.172Z,1628985267.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:54:27.569Z,1628985267.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:54:27.985Z,1628985267.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32E,000,00970,189,80,80,63,FF
2021-08-14T23:54:27.985Z,1628985267.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:54:28.443Z,1628985268.443 [Micromodem](INFO): Nmea in: $SNTTA,0.091375,,,,235428.36*46

2021-08-14T23:54:28.469Z,1628985268.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.459999 m, bearing: 82.872338 deg, deltaT: 4.446656 s, approachRate: 0.580210 m/s, LOS rate: -13.502619 deg/s, posRepo size: 4
2021-08-14T23:54:30.815Z,1628985270.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:54:31.201Z,1628985271.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:54:31.201Z,1628985271.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:54:31.201Z,1628985271.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:54:31.202Z,1628985271.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:54:31.610Z,1628985271.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32E,000,00970,189,80,80,63,FF
2021-08-14T23:54:31.610Z,1628985271.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:54:31.610Z,1628985271.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:54:31.612Z,1628985271.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:54:32.012Z,1628985272.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:54:32.438Z,1628985272.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,314,000,0099E,189,80,80,53,FF
2021-08-14T23:54:32.438Z,1628985272.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:54:32.857Z,1628985272.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235432.81*56

2021-08-14T23:54:32.894Z,1628985272.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.220001 m, bearing: 84.587726 deg, deltaT: 4.443021 s, approachRate: 0.621199 m/s, LOS rate: 0.386086 deg/s, posRepo size: 4
2021-08-14T23:54:35.282Z,1628985275.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:54:35.649Z,1628985275.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:54:35.650Z,1628985275.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:54:35.650Z,1628985275.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:54:35.651Z,1628985275.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:54:36.049Z,1628985276.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
314,000,0099E,189,80,80,53,FF
2021-08-14T23:54:36.049Z,1628985276.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:54:36.049Z,1628985276.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:54:36.051Z,1628985276.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:54:36.456Z,1628985276.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:54:36.857Z,1628985276.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDB,000,009D0,187,80,80,51,FF
2021-08-14T23:54:36.858Z,1628985276.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:54:37.301Z,1628985277.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235437.24*5C

2021-08-14T23:54:37.331Z,1628985277.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.220001 m, bearing: 138.340304 deg, deltaT: 4.388180 s, approachRate: 0.683655 m/s, LOS rate: 12.249401 deg/s, posRepo size: 4
2021-08-14T23:54:39.721Z,1628985279.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:54:40.089Z,1628985280.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:54:40.089Z,1628985280.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:54:40.089Z,1628985280.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:54:40.090Z,1628985280.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:54:40.497Z,1628985280.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDB,000,009D0,187,80,80,51,FF
2021-08-14T23:54:40.497Z,1628985280.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:54:40.497Z,1628985280.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:54:40.499Z,1628985280.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:54:40.917Z,1628985280.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:54:41.309Z,1628985281.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,291,000,009FA,189,80,80,57,FF
2021-08-14T23:54:41.309Z,1628985281.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:54:41.746Z,1628985281.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235441.69*54

2021-08-14T23:54:41.783Z,1628985281.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.739998 m, bearing: 91.069808 deg, deltaT: 4.512944 s, approachRate: 0.558393 m/s, LOS rate: -10.474426 deg/s, posRepo size: 4
2021-08-14T23:54:44.178Z,1628985284.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:54:44.533Z,1628985284.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:54:44.533Z,1628985284.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:54:44.533Z,1628985284.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:54:44.534Z,1628985284.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:54:44.949Z,1628985284.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
291,000,009FA,189,80,80,57,FF
2021-08-14T23:54:44.949Z,1628985284.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:54:44.949Z,1628985284.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:54:44.951Z,1628985284.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:54:45.383Z,1628985285.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:54:46.181Z,1628985286.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C6,000,018D3,189,80,80,4C,FF
2021-08-14T23:54:46.181Z,1628985286.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:54:46.204Z,1628985286.204 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235446.14*59

2021-08-14T23:54:46.594Z,1628985286.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 343.800018 m, bearing: 88.105615 deg, deltaT: 4.876270 s, approachRate: 46.769360 m/s, LOS rate: -0.607881 deg/s, posRepo size: 4
2021-08-14T23:54:48.999Z,1628985288.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:54:49.400Z,1628985289.400 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:54:49.400Z,1628985289.400 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:54:49.400Z,1628985289.400 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:54:49.401Z,1628985289.401 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:54:49.793Z,1628985289.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C6,000,018D3,189,80,80,4C,FF
2021-08-14T23:54:49.793Z,1628985289.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:54:49.793Z,1628985289.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:54:49.795Z,1628985289.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:54:50.197Z,1628985290.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:54:50.597Z,1628985290.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00A65,185,80,80,51,FF
2021-08-14T23:54:50.598Z,1628985290.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:54:51.045Z,1628985291.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235450.98*5A

2021-08-14T23:54:51.068Z,1628985291.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.160004 m, bearing: 121.527452 deg, deltaT: 4.357359 s, approachRate: -50.865677 m/s, LOS rate: 7.670205 deg/s, posRepo size: 4
2021-08-14T23:54:53.462Z,1628985293.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:54:53.829Z,1628985293.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:54:53.829Z,1628985293.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:54:53.829Z,1628985293.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:54:53.830Z,1628985293.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:54:54.233Z,1628985294.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00A65,185,80,80,51,FF
2021-08-14T23:54:54.233Z,1628985294.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:54:54.234Z,1628985294.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:54:54.235Z,1628985294.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:54:54.636Z,1628985294.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:54:55.053Z,1628985295.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,00A93,186,80,80,53,FF
2021-08-14T23:54:55.053Z,1628985295.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:54:55.481Z,1628985295.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235455.42*58

2021-08-14T23:54:55.524Z,1628985295.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.920006 m, bearing: 136.913273 deg, deltaT: 4.486361 s, approachRate: 0.615198 m/s, LOS rate: 3.429466 deg/s, posRepo size: 4
2021-08-14T23:54:57.950Z,1628985297.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:54:58.289Z,1628985298.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:54:58.289Z,1628985298.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:54:58.289Z,1628985298.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:54:58.290Z,1628985298.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:54:58.685Z,1628985298.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,00A93,186,80,80,53,FF
2021-08-14T23:54:58.686Z,1628985298.686 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:54:58.686Z,1628985298.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:54:58.688Z,1628985298.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:54:59.093Z,1628985299.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:54:59.930Z,1628985299.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235459.88*52

2021-08-14T23:55:00.709Z,1628985300.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,03DB2,187,80,80,40,FF
2021-08-14T23:55:00.709Z,1628985300.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:55:01.157Z,1628985301.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 910.140015 m, bearing: 130.836085 deg, deltaT: 5.654907 s, approachRate: 138.856400 m/s, LOS rate: -1.074675 deg/s, posRepo size: 4
2021-08-14T23:55:03.563Z,1628985303.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:55:03.981Z,1628985303.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:55:03.981Z,1628985303.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:55:03.982Z,1628985303.982 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:55:03.983Z,1628985303.983 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:55:04.402Z,1628985304.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F64,000,03DB2,187,80,80,40,FF
2021-08-14T23:55:04.402Z,1628985304.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:55:04.402Z,1628985304.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:55:04.408Z,1628985304.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:55:04.785Z,1628985304.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:55:05.598Z,1628985305.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,01921,186,80,80,53,FF
2021-08-14T23:55:05.599Z,1628985305.599 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:55:05.618Z,1628985305.618 [Micromodem](INFO): Nmea in: $SNTTA,0.102339,,,,235505.60*48

2021-08-14T23:55:06.064Z,1628985306.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 348.479980 m, bearing: 100.839397 deg, deltaT: 4.903412 s, approachRate: -114.544739 m/s, LOS rate: -6.117513 deg/s, posRepo size: 4
2021-08-14T23:55:08.466Z,1628985308.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:55:08.845Z,1628985308.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:55:08.845Z,1628985308.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:55:08.845Z,1628985308.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:55:08.846Z,1628985308.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:55:09.229Z,1628985309.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,01921,186,80,80,53,FF
2021-08-14T23:55:09.229Z,1628985309.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:55:09.229Z,1628985309.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:55:09.231Z,1628985309.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:55:09.650Z,1628985309.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:55:10.045Z,1628985310.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,00B35,186,80,80,57,FF
2021-08-14T23:55:10.045Z,1628985310.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:55:10.477Z,1628985310.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235510.42*58

2021-08-14T23:55:10.508Z,1628985310.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.639999 m, bearing: 138.785810 deg, deltaT: 4.457438 s, approachRate: -47.973743 m/s, LOS rate: 8.513055 deg/s, posRepo size: 4
2021-08-14T23:55:12.897Z,1628985312.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:55:13.254Z,1628985313.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:55:13.254Z,1628985313.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:55:13.254Z,1628985313.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:55:13.255Z,1628985313.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:55:13.675Z,1628985313.675 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,00B35,186,80,80,57,FF
2021-08-14T23:55:13.676Z,1628985313.676 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:55:13.676Z,1628985313.676 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:55:13.679Z,1628985313.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:55:14.088Z,1628985314.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:55:14.902Z,1628985314.902 [Micromodem](INFO): Nmea in: $SNTTA,,0.056355,,,235514.87*4B

2021-08-14T23:55:15.713Z,1628985315.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:55:16.489Z,1628985316.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B1,000,0660B,186,80,80,63,FF
2021-08-14T23:55:16.490Z,1628985316.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:55:16.946Z,1628985316.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1529.880005 m, bearing: 101.702657 deg, deltaT: 6.419006 s, approachRate: 217.360748 m/s, LOS rate: -5.777087 deg/s, posRepo size: 4
2021-08-14T23:55:19.404Z,1628985319.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:55:19.725Z,1628985319.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:55:19.725Z,1628985319.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:55:19.725Z,1628985319.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:55:19.726Z,1628985319.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:55:20.134Z,1628985320.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B1,000,0660B,186,80,80,63,FF
2021-08-14T23:55:20.134Z,1628985320.134 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:55:20.134Z,1628985320.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:55:20.137Z,1628985320.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:55:20.551Z,1628985320.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:55:20.942Z,1628985320.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,119,000,00BAA,187,80,80,4D,FF
2021-08-14T23:55:20.942Z,1628985320.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:55:21.401Z,1628985321.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235521.33*5C

2021-08-14T23:55:21.427Z,1628985321.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.660004 m, bearing: 109.614762 deg, deltaT: 4.456127 s, approachRate: -311.530609 m/s, LOS rate: 1.775556 deg/s, posRepo size: 4
2021-08-14T23:55:23.809Z,1628985323.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:55:24.178Z,1628985324.178 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:55:24.179Z,1628985324.179 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:55:24.179Z,1628985324.179 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:55:24.181Z,1628985324.181 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:55:24.577Z,1628985324.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
119,000,00BAA,187,80,80,4D,FF
2021-08-14T23:55:24.577Z,1628985324.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:55:24.578Z,1628985324.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:55:24.579Z,1628985324.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:55:24.985Z,1628985324.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:55:25.409Z,1628985325.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,00BDA,186,80,80,56,FF
2021-08-14T23:55:25.410Z,1628985325.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:55:25.828Z,1628985325.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235525.77*58

2021-08-14T23:55:25.853Z,1628985325.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.539993 m, bearing: 99.339658 deg, deltaT: 4.489938 s, approachRate: 0.641432 m/s, LOS rate: -2.288473 deg/s, posRepo size: 4
2021-08-14T23:55:28.295Z,1628985328.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:55:28.625Z,1628985328.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:55:28.625Z,1628985328.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:55:28.625Z,1628985328.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:55:28.626Z,1628985328.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:55:29.029Z,1628985329.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,00BDA,186,80,80,56,FF
2021-08-14T23:55:29.029Z,1628985329.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:55:29.029Z,1628985329.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:55:29.031Z,1628985329.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:55:29.445Z,1628985329.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:55:29.826Z,1628985329.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,295,000,00C0E,18A,80,80,56,FF
2021-08-14T23:55:29.826Z,1628985329.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:55:30.254Z,1628985330.254 [Micromodem](INFO): Nmea in: $SNTTA,0.109305,0.380183,,,235530.22*53

2021-08-14T23:55:30.322Z,1628985330.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.660004 m, bearing: 89.915363 deg, deltaT: 4.452881 s, approachRate: 0.700672 m/s, LOS rate: -2.116449 deg/s, posRepo size: 4
2021-08-14T23:55:32.689Z,1628985332.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:55:33.057Z,1628985333.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:55:33.057Z,1628985333.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:55:33.057Z,1628985333.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:55:33.058Z,1628985333.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:55:33.469Z,1628985333.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
295,000,00C0E,18A,80,80,56,FF
2021-08-14T23:55:33.469Z,1628985333.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:55:33.470Z,1628985333.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:55:33.471Z,1628985333.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:55:33.882Z,1628985333.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:55:34.274Z,1628985334.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,00C3D,186,80,80,56,FF
2021-08-14T23:55:34.275Z,1628985334.275 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:55:34.713Z,1628985334.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235534.66*58

2021-08-14T23:55:34.746Z,1628985334.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.480011 m, bearing: 100.141023 deg, deltaT: 4.452934 s, approachRate: 0.633292 m/s, LOS rate: 2.296387 deg/s, posRepo size: 4
2021-08-14T23:55:37.127Z,1628985337.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:55:37.501Z,1628985337.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:55:37.501Z,1628985337.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:55:37.501Z,1628985337.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:55:37.502Z,1628985337.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:55:37.928Z,1628985337.928 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,00C3D,186,80,80,56,FF
2021-08-14T23:55:37.929Z,1628985337.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:55:37.929Z,1628985337.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:55:37.935Z,1628985337.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:55:38.325Z,1628985338.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:55:39.150Z,1628985339.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B1,000,00C6D,186,80,80,6B,FF
2021-08-14T23:55:39.151Z,1628985339.151 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:55:39.159Z,1628985339.159 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235539.15*51

2021-08-14T23:55:39.571Z,1628985339.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.360001 m, bearing: 101.601837 deg, deltaT: 4.819542 s, approachRate: 0.597565 m/s, LOS rate: 0.303102 deg/s, posRepo size: 4
2021-08-14T23:55:42.039Z,1628985342.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:55:42.357Z,1628985342.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:55:42.357Z,1628985342.357 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:55:42.358Z,1628985342.358 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:55:42.359Z,1628985342.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:55:42.761Z,1628985342.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B1,000,00C6D,186,80,80,6B,FF
2021-08-14T23:55:42.761Z,1628985342.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:55:42.761Z,1628985342.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:55:42.763Z,1628985342.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:55:43.164Z,1628985343.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:55:43.570Z,1628985343.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,00CA3,187,80,80,6B,FF
2021-08-14T23:55:43.570Z,1628985343.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:55:44.014Z,1628985344.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235543.95*54

2021-08-14T23:55:44.062Z,1628985344.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.600006 m, bearing: 95.933333 deg, deltaT: 4.403817 s, approachRate: 0.735727 m/s, LOS rate: -1.287180 deg/s, posRepo size: 4
2021-08-14T23:55:46.457Z,1628985346.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:55:46.797Z,1628985346.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:55:46.797Z,1628985346.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:55:46.797Z,1628985346.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:55:46.798Z,1628985346.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:55:47.210Z,1628985347.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21A,000,00CA3,187,80,80,6B,FF
2021-08-14T23:55:47.210Z,1628985347.210 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:55:47.210Z,1628985347.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:55:47.212Z,1628985347.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:55:47.605Z,1628985347.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:55:48.029Z,1628985348.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23E,000,00CD2,189,80,80,6B,FF
2021-08-14T23:55:48.030Z,1628985348.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:55:48.034Z,1628985348.034 [Micromodem](INFO): Nmea in: $SNTTA,0.124099,0.289216,,,235548.40*56

2021-08-14T23:55:48.482Z,1628985348.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.420013 m, bearing: 94.792179 deg, deltaT: 4.485918 s, approachRate: 0.628636 m/s, LOS rate: -0.254386 deg/s, posRepo size: 4
2021-08-14T23:55:50.851Z,1628985350.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:55:51.237Z,1628985351.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:55:51.237Z,1628985351.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:55:51.237Z,1628985351.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:55:51.238Z,1628985351.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:55:51.645Z,1628985351.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23E,000,00CD2,189,80,80,6B,FF
2021-08-14T23:55:51.646Z,1628985351.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:55:51.646Z,1628985351.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:55:51.647Z,1628985351.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:55:52.057Z,1628985352.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:55:52.453Z,1628985352.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,283,000,00D02,189,80,80,6B,FF
2021-08-14T23:55:52.454Z,1628985352.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:55:52.884Z,1628985352.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.300003 m, bearing: 91.142919 deg, deltaT: 4.405931 s, approachRate: 0.653662 m/s, LOS rate: -0.828261 deg/s, posRepo size: 4
2021-08-14T23:55:54.101Z,1628985354.101 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T23:55:55.314Z,1628985355.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:55:55.681Z,1628985355.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:55:55.681Z,1628985355.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:55:55.681Z,1628985355.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:55:55.682Z,1628985355.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:55:56.093Z,1628985356.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
283,000,00D02,189,80,80,6B,FF
2021-08-14T23:55:56.093Z,1628985356.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:55:56.093Z,1628985356.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:55:56.095Z,1628985356.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:55:56.496Z,1628985356.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:55:56.898Z,1628985356.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24A,000,00D02,189,80,80,6B,FF
2021-08-14T23:55:56.898Z,1628985356.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:55:57.367Z,1628985357.367 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235557.28*57

2021-08-14T23:55:57.424Z,1628985357.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.300003 m, bearing: 93.235327 deg, deltaT: 4.408107 s, approachRate: 0.000000 m/s, LOS rate: 0.474673 deg/s, posRepo size: 4
2021-08-14T23:55:59.777Z,1628985359.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:56:00.133Z,1628985360.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:56:00.133Z,1628985360.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:56:00.133Z,1628985360.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:56:00.134Z,1628985360.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:56:00.529Z,1628985360.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24A,000,00D02,189,80,80,6B,FF
2021-08-14T23:56:00.529Z,1628985360.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:56:00.529Z,1628985360.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:56:00.531Z,1628985360.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:56:00.937Z,1628985360.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:56:01.345Z,1628985361.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,208,000,00D63,189,80,80,6B,FF
2021-08-14T23:56:01.346Z,1628985361.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:56:01.773Z,1628985361.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235601.72*58

2021-08-14T23:56:01.810Z,1628985361.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.119995 m, bearing: 96.084233 deg, deltaT: 4.493227 s, approachRate: 1.295281 m/s, LOS rate: 0.634045 deg/s, posRepo size: 4
2021-08-14T23:56:04.225Z,1628985364.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:56:04.569Z,1628985364.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:56:04.569Z,1628985364.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:56:04.569Z,1628985364.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:56:04.570Z,1628985364.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:56:04.969Z,1628985364.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
208,000,00D63,189,80,80,6B,FF
2021-08-14T23:56:04.969Z,1628985364.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:56:04.970Z,1628985364.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:56:04.971Z,1628985364.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:56:05.394Z,1628985365.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:56:05.790Z,1628985365.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A5,000,00D96,189,80,80,6B,FF
2021-08-14T23:56:05.790Z,1628985365.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:56:06.217Z,1628985366.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235606.16*5D

2021-08-14T23:56:06.304Z,1628985366.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.179993 m, bearing: 88.799180 deg, deltaT: 4.417488 s, approachRate: 0.692701 m/s, LOS rate: -1.649139 deg/s, posRepo size: 4
2021-08-14T23:56:08.634Z,1628985368.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:56:09.009Z,1628985369.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:56:09.009Z,1628985369.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:56:09.010Z,1628985369.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:56:09.011Z,1628985369.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:56:09.445Z,1628985369.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A5,000,00D96,189,80,80,6B,FF
2021-08-14T23:56:09.445Z,1628985369.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:56:09.445Z,1628985369.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:56:09.447Z,1628985369.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:56:09.825Z,1628985369.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:56:10.653Z,1628985370.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,01CB4,187,80,80,3A,FF
2021-08-14T23:56:10.653Z,1628985370.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:56:10.656Z,1628985370.656 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235610.64*5F

2021-08-14T23:56:11.084Z,1628985371.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 403.380005 m, bearing: 128.137532 deg, deltaT: 4.850024 s, approachRate: 47.876053 m/s, LOS rate: 8.110960 deg/s, posRepo size: 4
2021-08-14T23:56:13.503Z,1628985373.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:56:13.869Z,1628985373.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:56:13.869Z,1628985373.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:56:13.869Z,1628985373.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:56:13.870Z,1628985373.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:56:14.274Z,1628985374.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,01CB4,187,80,80,3A,FF
2021-08-14T23:56:14.274Z,1628985374.274 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:56:14.274Z,1628985374.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:56:14.277Z,1628985374.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:56:14.748Z,1628985374.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:56:15.186Z,1628985375.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,00DF8,189,80,80,5C,FF
2021-08-14T23:56:15.186Z,1628985375.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:56:15.565Z,1628985375.565 [Micromodem](INFO): Nmea in: $SNTTA,0.119873,,,,235615.47*40

2021-08-14T23:56:15.615Z,1628985375.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.059998 m, bearing: 91.312956 deg, deltaT: 4.526426 s, approachRate: -49.999714 m/s, LOS rate: -8.135464 deg/s, posRepo size: 4
2021-08-14T23:56:18.034Z,1628985378.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:56:18.388Z,1628985378.388 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:56:18.389Z,1628985378.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:56:18.389Z,1628985378.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:56:18.391Z,1628985378.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:56:18.781Z,1628985378.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,00DF8,189,80,80,5C,FF
2021-08-14T23:56:18.781Z,1628985378.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:56:18.781Z,1628985378.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:56:18.783Z,1628985378.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:56:19.189Z,1628985379.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:56:19.594Z,1628985379.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B7,000,00DF8,189,80,80,5C,FF
2021-08-14T23:56:19.594Z,1628985379.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:56:20.025Z,1628985380.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235619.98*55

2021-08-14T23:56:20.073Z,1628985380.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.059998 m, bearing: 100.851930 deg, deltaT: 4.454899 s, approachRate: 0.000000 m/s, LOS rate: 2.141232 deg/s, posRepo size: 4
2021-08-14T23:56:22.470Z,1628985382.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:56:22.817Z,1628985382.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:56:22.817Z,1628985382.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:56:22.817Z,1628985382.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:56:22.818Z,1628985382.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:56:23.225Z,1628985383.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B7,000,00DF8,189,80,80,5C,FF
2021-08-14T23:56:23.225Z,1628985383.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:56:23.225Z,1628985383.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:56:23.227Z,1628985383.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:56:23.633Z,1628985383.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:56:24.037Z,1628985384.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B7,000,00DF8,189,80,80,5C,FF
2021-08-14T23:56:24.038Z,1628985384.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:56:24.481Z,1628985384.481 [Micromodem](INFO): Nmea in: $SNTTA,0.208835,,,,235624.42*46

2021-08-14T23:56:24.516Z,1628985384.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.059998 m, bearing: 100.806304 deg, deltaT: 4.463901 s, approachRate: 0.000000 m/s, LOS rate: -0.010221 deg/s, posRepo size: 4
2021-08-14T23:56:26.898Z,1628985386.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:56:27.266Z,1628985387.266 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:56:27.266Z,1628985387.266 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:56:27.266Z,1628985387.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:56:27.267Z,1628985387.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:56:27.669Z,1628985387.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B7,000,00DF8,189,80,80,5C,FF
2021-08-14T23:56:27.669Z,1628985387.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:56:27.669Z,1628985387.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:56:27.671Z,1628985387.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:56:28.084Z,1628985388.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:56:28.483Z,1628985388.483 [Micromodem](INFO): Nmea in: $SNTTA,0.058385,0.124779,,,235628.86*55

2021-08-14T23:56:28.893Z,1628985388.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,00E85,187,80,80,44,FF
2021-08-14T23:56:28.893Z,1628985388.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:56:29.332Z,1628985389.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.520004 m, bearing: 98.617850 deg, deltaT: 4.784108 s, approachRate: 1.768356 m/s, LOS rate: -0.457442 deg/s, posRepo size: 4
2021-08-14T23:56:31.757Z,1628985391.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:56:32.113Z,1628985392.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:56:32.113Z,1628985392.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:56:32.113Z,1628985392.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:56:32.114Z,1628985392.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:56:32.526Z,1628985392.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,00E85,187,80,80,44,FF
2021-08-14T23:56:32.526Z,1628985392.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:56:32.526Z,1628985392.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:56:32.528Z,1628985392.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:56:32.924Z,1628985392.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:56:33.753Z,1628985393.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,00EBA,189,80,80,48,FF
2021-08-14T23:56:33.753Z,1628985393.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:56:33.756Z,1628985393.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235633.72*59

2021-08-14T23:56:34.191Z,1628985394.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.699997 m, bearing: 91.691028 deg, deltaT: 4.929924 s, approachRate: 0.645039 m/s, LOS rate: -1.405057 deg/s, posRepo size: 4
2021-08-14T23:56:36.590Z,1628985396.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:56:36.969Z,1628985396.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:56:36.969Z,1628985396.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:56:36.970Z,1628985396.970 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:56:36.971Z,1628985396.971 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:56:37.397Z,1628985397.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,00EBA,189,80,80,48,FF
2021-08-14T23:56:37.397Z,1628985397.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:56:37.397Z,1628985397.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:56:37.399Z,1628985397.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:56:37.777Z,1628985397.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:56:38.193Z,1628985398.193 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T23:56:38.579Z,1628985398.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,173,000,00EEC,186,80,80,60,FF
2021-08-14T23:56:38.580Z,1628985398.580 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:56:38.587Z,1628985398.587 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235638.59*5B

2021-08-14T23:56:39.015Z,1628985399.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.699982 m, bearing: 104.808215 deg, deltaT: 4.820554 s, approachRate: 0.622332 m/s, LOS rate: 2.721095 deg/s, posRepo size: 4
2021-08-14T23:56:41.482Z,1628985401.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:56:41.815Z,1628985401.815 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:56:41.815Z,1628985401.815 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:56:41.815Z,1628985401.815 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:56:41.816Z,1628985401.816 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:56:42.229Z,1628985402.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
173,000,00EEC,186,80,80,60,FF
2021-08-14T23:56:42.229Z,1628985402.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:56:42.229Z,1628985402.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:56:42.231Z,1628985402.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:56:42.633Z,1628985402.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:56:43.481Z,1628985403.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,281,000,00F28,189,80,80,5E,FF
2021-08-14T23:56:43.482Z,1628985403.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:56:43.485Z,1628985403.485 [Micromodem](INFO): Nmea in: $SNTTA,0.415058,,,,235643.42*4E

2021-08-14T23:56:43.959Z,1628985403.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.300003 m, bearing: 90.599912 deg, deltaT: 4.850284 s, approachRate: 0.742229 m/s, LOS rate: -2.929376 deg/s, posRepo size: 4
2021-08-14T23:56:46.317Z,1628985406.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:56:46.657Z,1628985406.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:56:46.657Z,1628985406.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:56:46.657Z,1628985406.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:56:46.658Z,1628985406.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:56:47.069Z,1628985407.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
281,000,00F28,189,80,80,5E,FF
2021-08-14T23:56:47.070Z,1628985407.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:56:47.070Z,1628985407.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:56:47.076Z,1628985407.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:56:47.466Z,1628985407.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:56:48.289Z,1628985408.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,00F5D,186,80,80,4A,FF
2021-08-14T23:56:48.289Z,1628985408.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:56:48.292Z,1628985408.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235648.27*55

2021-08-14T23:56:48.728Z,1628985408.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.479980 m, bearing: 140.973342 deg, deltaT: 4.884145 s, approachRate: 0.651082 m/s, LOS rate: 10.313664 deg/s, posRepo size: 4
2021-08-14T23:56:51.143Z,1628985411.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:56:51.520Z,1628985411.520 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:56:51.521Z,1628985411.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:56:51.521Z,1628985411.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:56:51.522Z,1628985411.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:56:51.965Z,1628985411.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,00F5D,186,80,80,4A,FF
2021-08-14T23:56:51.965Z,1628985411.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:56:51.965Z,1628985411.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:56:51.967Z,1628985411.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:56:52.340Z,1628985412.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:56:53.123Z,1628985413.123 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,00F90,184,80,80,46,FF
2021-08-14T23:56:53.125Z,1628985413.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:56:53.549Z,1628985413.549 [Micromodem](INFO): Nmea in: $SNTTA,0.136605,,,,235653.16*44

2021-08-14T23:56:53.603Z,1628985413.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.539993 m, bearing: 124.565930 deg, deltaT: 4.801138 s, approachRate: 0.637352 m/s, LOS rate: -3.417401 deg/s, posRepo size: 4
2021-08-14T23:56:56.037Z,1628985416.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:56:56.368Z,1628985416.368 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:56:56.369Z,1628985416.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:56:56.369Z,1628985416.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:56:56.371Z,1628985416.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:56:56.769Z,1628985416.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,00F90,184,80,80,46,FF
2021-08-14T23:56:56.770Z,1628985416.770 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:56:56.770Z,1628985416.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:56:56.773Z,1628985416.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:56:57.168Z,1628985417.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:56:57.985Z,1628985417.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,00FC2,189,80,80,6E,FF
2021-08-14T23:56:57.985Z,1628985417.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:56:57.989Z,1628985417.989 [Micromodem](INFO): Nmea in: $SNTTA,0.138225,0.468334,,,235657.96*50

2021-08-14T23:56:58.469Z,1628985418.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.539978 m, bearing: 95.050620 deg, deltaT: 4.863117 s, approachRate: 0.616885 m/s, LOS rate: -6.069216 deg/s, posRepo size: 4
2021-08-14T23:57:00.828Z,1628985420.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:57:01.209Z,1628985421.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:57:01.209Z,1628985421.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:57:01.210Z,1628985421.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:57:01.210Z,1628985421.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:57:01.607Z,1628985421.607 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,00FC2,189,80,80,6E,FF
2021-08-14T23:57:01.607Z,1628985421.607 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:57:01.608Z,1628985421.608 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:57:01.611Z,1628985421.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:57:02.020Z,1628985422.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:57:02.841Z,1628985422.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21D,000,00FF0,187,80,80,56,FF
2021-08-14T23:57:02.841Z,1628985422.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:57:02.844Z,1628985422.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235702.80*57

2021-08-14T23:57:03.271Z,1628985423.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.300003 m, bearing: 95.549688 deg, deltaT: 4.799673 s, approachRate: 0.575044 m/s, LOS rate: 0.103980 deg/s, posRepo size: 4
2021-08-14T23:57:05.689Z,1628985425.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:57:06.049Z,1628985426.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:57:06.049Z,1628985426.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:57:06.049Z,1628985426.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:57:06.050Z,1628985426.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:57:06.453Z,1628985426.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21D,000,00FF0,187,80,80,56,FF
2021-08-14T23:57:06.453Z,1628985426.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:57:06.453Z,1628985426.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:57:06.455Z,1628985426.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:57:06.868Z,1628985426.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:57:07.685Z,1628985427.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,0102A,18A,80,80,64,FF
2021-08-14T23:57:07.685Z,1628985427.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:57:07.689Z,1628985427.689 [Micromodem](INFO): Nmea in: $SNTTA,0.142725,,,,235707.65*40

2021-08-14T23:57:08.165Z,1628985428.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.779984 m, bearing: 90.477132 deg, deltaT: 4.854600 s, approachRate: 0.716842 m/s, LOS rate: -1.044897 deg/s, posRepo size: 4
2021-08-14T23:57:10.221Z,1628985430.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:57:10.493Z,1628985430.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:57:10.493Z,1628985430.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:57:10.494Z,1628985430.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:57:10.494Z,1628985430.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:57:10.893Z,1628985430.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27F,000,0102A,18A,80,80,64,FF
2021-08-14T23:57:10.894Z,1628985430.894 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:57:10.894Z,1628985430.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:57:10.896Z,1628985430.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:57:11.309Z,1628985431.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:57:12.115Z,1628985432.115 [Micromodem](INFO): Nmea in: $SNTTA,0.445673,0.445366,,,235712.09*56

2021-08-14T23:57:12.959Z,1628985432.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:57:14.533Z,1628985434.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,18A,80,80,64,FF
2021-08-14T23:57:14.533Z,1628985434.533 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,18A,80,80,64,FF
2021-08-14T23:57:14.534Z,1628985434.534 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:57:15.797Z,1628985435.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:57:16.176Z,1628985436.176 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:57:16.176Z,1628985436.176 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:57:16.177Z,1628985436.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:57:16.177Z,1628985436.177 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:57:16.565Z,1628985436.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,18A,80,80,64,FF
2021-08-14T23:57:16.565Z,1628985436.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:57:16.566Z,1628985436.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:57:16.567Z,1628985436.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:57:16.964Z,1628985436.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:57:17.793Z,1628985437.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,0108C,18A,80,80,53,FF
2021-08-14T23:57:17.794Z,1628985437.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:57:17.797Z,1628985437.797 [Micromodem](INFO): Nmea in: $SNTTA,0.146659,,,,235717.76*4D

2021-08-14T23:57:18.265Z,1628985438.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.659988 m, bearing: 90.908623 deg, deltaT: 10.206520 s, approachRate: 0.576103 m/s, LOS rate: 0.042276 deg/s, posRepo size: 4
2021-08-14T23:57:20.622Z,1628985440.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:57:21.001Z,1628985441.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:57:21.001Z,1628985441.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:57:21.001Z,1628985441.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:57:21.002Z,1628985441.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:57:21.435Z,1628985441.435 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27F,000,0108C,18A,80,80,53,FF
2021-08-14T23:57:21.435Z,1628985441.435 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:57:21.435Z,1628985441.435 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:57:21.437Z,1628985441.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:57:21.840Z,1628985441.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:57:22.662Z,1628985442.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235722.63*58

2021-08-14T23:57:23.449Z,1628985443.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,0436E,184,80,80,5F,FF
2021-08-14T23:57:23.449Z,1628985443.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:57:23.955Z,1628985443.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 998.220032 m, bearing: 125.031517 deg, deltaT: 5.578813 s, approachRate: 140.094330 m/s, LOS rate: 6.116515 deg/s, posRepo size: 4
2021-08-14T23:57:26.322Z,1628985446.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:57:26.669Z,1628985446.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:57:26.669Z,1628985446.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:57:26.669Z,1628985446.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:57:26.670Z,1628985446.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:57:27.069Z,1628985447.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,0436E,184,80,80,5F,FF
2021-08-14T23:57:27.069Z,1628985447.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:57:27.069Z,1628985447.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:57:27.071Z,1628985447.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:57:27.472Z,1628985447.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:57:28.312Z,1628985448.312 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,010FC,187,80,80,44,FF
2021-08-14T23:57:28.313Z,1628985448.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:57:28.316Z,1628985448.316 [Micromodem](INFO): Nmea in: $SNTTA,0.151239,,,,235728.26*40

2021-08-14T23:57:28.712Z,1628985448.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 223.380005 m, bearing: 129.248858 deg, deltaT: 4.912329 s, approachRate: -157.733734 m/s, LOS rate: 0.858522 deg/s, posRepo size: 4
2021-08-14T23:57:31.127Z,1628985451.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:57:31.497Z,1628985451.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:57:31.497Z,1628985451.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:57:31.497Z,1628985451.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:57:31.498Z,1628985451.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:57:31.924Z,1628985451.924 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,010FC,187,80,80,44,FF
2021-08-14T23:57:31.925Z,1628985451.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:57:31.926Z,1628985451.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:57:31.937Z,1628985451.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:57:32.317Z,1628985452.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:57:33.115Z,1628985453.115 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,0112C,187,80,80,45,FF
2021-08-14T23:57:33.116Z,1628985453.116 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:57:33.128Z,1628985453.128 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235733.13*5F

2021-08-14T23:57:33.571Z,1628985453.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.259995 m, bearing: 114.279802 deg, deltaT: 4.754519 s, approachRate: 0.605737 m/s, LOS rate: -3.148385 deg/s, posRepo size: 4
2021-08-14T23:57:35.855Z,1628985455.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:57:36.054Z,1628985456.054 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:57:36.054Z,1628985456.054 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:57:36.055Z,1628985456.055 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:57:36.055Z,1628985456.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:57:36.096Z,1628985456.096 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,0112C,187,80,80,45,FF
2021-08-14T23:57:36.096Z,1628985456.096 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:57:36.096Z,1628985456.096 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:57:36.098Z,1628985456.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:57:36.479Z,1628985456.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:57:37.248Z,1628985457.248 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28E,000,01159,189,80,80,3A,FF
2021-08-14T23:57:37.249Z,1628985457.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:57:37.686Z,1628985457.686 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235737.29*52

2021-08-14T23:57:37.740Z,1628985457.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.960007 m, bearing: 89.985126 deg, deltaT: 4.166335 s, approachRate: 0.648055 m/s, LOS rate: -5.831186 deg/s, posRepo size: 4
2021-08-14T23:57:40.139Z,1628985460.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:57:40.485Z,1628985460.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:57:40.485Z,1628985460.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:57:40.485Z,1628985460.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:57:40.486Z,1628985460.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:57:40.897Z,1628985460.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28E,000,01159,189,80,80,3A,FF
2021-08-14T23:57:40.897Z,1628985460.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:57:40.898Z,1628985460.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:57:40.900Z,1628985460.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:57:41.320Z,1628985461.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:57:42.105Z,1628985462.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,232,000,0118B,189,80,80,56,FF
2021-08-14T23:57:42.105Z,1628985462.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:57:42.109Z,1628985462.109 [Micromodem](INFO): Nmea in: $SNTTA,0.403489,0.403583,,,235742.09*59

2021-08-14T23:57:42.584Z,1628985462.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.959976 m, bearing: 94.393672 deg, deltaT: 4.835298 s, approachRate: 0.620431 m/s, LOS rate: 0.911742 deg/s, posRepo size: 4
2021-08-14T23:57:44.951Z,1628985464.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:57:45.336Z,1628985465.336 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:57:45.336Z,1628985465.336 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:57:45.336Z,1628985465.336 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:57:45.337Z,1628985465.337 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:57:45.741Z,1628985465.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
232,000,0118B,189,80,80,56,FF
2021-08-14T23:57:45.741Z,1628985465.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:57:45.741Z,1628985465.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:57:45.743Z,1628985465.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:57:46.251Z,1628985466.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:57:46.663Z,1628985466.663 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,011BA,186,80,80,36,FF
2021-08-14T23:57:46.664Z,1628985466.664 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:57:47.066Z,1628985467.066 [Micromodem](INFO): Nmea in: $SNTTA,0.167919,,,,235746.93*4A

2021-08-14T23:57:47.093Z,1628985467.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.779999 m, bearing: 112.839219 deg, deltaT: 4.548851 s, approachRate: 0.619942 m/s, LOS rate: 4.054990 deg/s, posRepo size: 4
2021-08-14T23:57:49.597Z,1628985469.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:57:49.912Z,1628985469.912 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:57:49.913Z,1628985469.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:57:49.914Z,1628985469.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:57:49.915Z,1628985469.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:57:50.297Z,1628985470.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,011BA,186,80,80,36,FF
2021-08-14T23:57:50.297Z,1628985470.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:57:50.297Z,1628985470.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:57:50.299Z,1628985470.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:57:50.689Z,1628985470.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:57:51.510Z,1628985471.510 [Micromodem](INFO): Nmea in: $SNTTA,0.164495,,,,235751.49*41

2021-08-14T23:57:52.305Z,1628985472.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20E,000,0449C,188,80,80,4F,FF
2021-08-14T23:57:52.305Z,1628985472.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:57:52.775Z,1628985472.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1016.340027 m, bearing: 96.509794 deg, deltaT: 5.665735 s, approachRate: 137.945038 m/s, LOS rate: -2.882137 deg/s, posRepo size: 4
2021-08-14T23:57:53.983Z,1628985473.983 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T23:57:55.139Z,1628985475.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:57:55.533Z,1628985475.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:57:55.533Z,1628985475.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:57:55.533Z,1628985475.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:57:55.534Z,1628985475.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:57:55.991Z,1628985475.991 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20E,000,0449C,188,80,80,4F,FF
2021-08-14T23:57:55.991Z,1628985475.991 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:57:55.991Z,1628985475.991 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:57:55.993Z,1628985475.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:57:56.500Z,1628985476.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:57:57.306Z,1628985477.306 [Micromodem](INFO): Nmea in: $SNTTA,0.165848,,,,235757.18*4E

2021-08-14T23:57:57.747Z,1628985477.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:57:59.337Z,1628985479.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,188,80,80,4F,FF
2021-08-14T23:57:59.338Z,1628985479.338 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,188,80,80,4F,FF
2021-08-14T23:57:59.338Z,1628985479.338 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:58:00.558Z,1628985480.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:58:00.957Z,1628985480.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:58:00.957Z,1628985480.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:58:00.957Z,1628985480.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:58:00.958Z,1628985480.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:58:01.342Z,1628985481.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,188,80,80,4F,FF
2021-08-14T23:58:01.342Z,1628985481.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:58:01.342Z,1628985481.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:58:01.344Z,1628985481.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:58:01.772Z,1628985481.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:58:02.211Z,1628985482.211 [Micromodem](INFO): Nmea in: $SNTTA,0.165534,0.219179,,,235802.54*54

2021-08-14T23:58:02.589Z,1628985482.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F63,000,0126C,186,80,80,3D,FF
2021-08-14T23:58:02.590Z,1628985482.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:58:03.063Z,1628985483.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.459991 m, bearing: 130.439811 deg, deltaT: 10.255716 s, approachRate: -75.165886 m/s, LOS rate: 3.308401 deg/s, posRepo size: 4
2021-08-14T23:58:05.429Z,1628985485.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:58:05.808Z,1628985485.808 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:58:05.808Z,1628985485.808 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:58:05.809Z,1628985485.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:58:05.809Z,1628985485.809 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:58:06.185Z,1628985486.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F63,000,0126C,186,80,80,3D,FF
2021-08-14T23:58:06.185Z,1628985486.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:58:06.185Z,1628985486.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:58:06.187Z,1628985486.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:58:06.614Z,1628985486.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:58:07.446Z,1628985487.446 [Micromodem](INFO): Nmea in: $SNTTA,0.166921,,,,235807.38*4B

2021-08-14T23:58:08.295Z,1628985488.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:58:09.839Z,1628985489.839 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,3D,FF
2021-08-14T23:58:09.839Z,1628985489.839 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,3D,FF
2021-08-14T23:58:09.839Z,1628985489.839 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T23:58:11.067Z,1628985491.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:58:11.438Z,1628985491.438 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:58:11.438Z,1628985491.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:58:11.438Z,1628985491.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:58:11.439Z,1628985491.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:58:11.846Z,1628985491.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,3D,FF
2021-08-14T23:58:11.846Z,1628985491.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:58:11.846Z,1628985491.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:58:11.848Z,1628985491.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:58:12.273Z,1628985492.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:58:13.099Z,1628985493.099 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235813.04*54

2021-08-14T23:58:13.966Z,1628985493.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:58:14.669Z,1628985494.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B6,000,06BE4,186,80,80,63,FF
2021-08-14T23:58:14.670Z,1628985494.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:58:15.176Z,1628985495.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1619.700073 m, bearing: 100.401315 deg, deltaT: 12.119032 s, approachRate: 113.395203 m/s, LOS rate: -2.478622 deg/s, posRepo size: 4
2021-08-14T23:58:17.552Z,1628985497.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:58:17.925Z,1628985497.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:58:17.925Z,1628985497.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:58:17.926Z,1628985497.926 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:58:17.928Z,1628985497.928 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:58:18.309Z,1628985498.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B6,000,06BE4,186,80,80,63,FF
2021-08-14T23:58:18.310Z,1628985498.310 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:58:18.310Z,1628985498.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:58:18.311Z,1628985498.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:58:18.713Z,1628985498.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:58:19.550Z,1628985499.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235819.50*5F

2021-08-14T23:58:20.349Z,1628985500.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:58:20.737Z,1628985500.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,05368,186,80,80,39,FF
2021-08-14T23:58:20.738Z,1628985500.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:58:21.172Z,1628985501.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1243.620117 m, bearing: 130.261966 deg, deltaT: 6.007864 s, approachRate: -62.597946 m/s, LOS rate: 4.970261 deg/s, posRepo size: 4
2021-08-14T23:58:23.593Z,1628985503.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:58:23.993Z,1628985503.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:58:23.993Z,1628985503.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:58:23.993Z,1628985503.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:58:23.994Z,1628985503.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:58:24.020Z,1628985504.020 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T23:58:24.377Z,1628985504.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,05368,186,80,80,39,FF
2021-08-14T23:58:24.377Z,1628985504.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:58:24.378Z,1628985504.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:58:24.385Z,1628985504.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:58:24.783Z,1628985504.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:58:25.593Z,1628985505.593 [Micromodem](INFO): Nmea in: $SNTTA,0.174740,,,,235825.58*47

2021-08-14T23:58:26.425Z,1628985506.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,045FE,187,80,80,36,FF
2021-08-14T23:58:26.425Z,1628985506.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:58:26.839Z,1628985506.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1037.579956 m, bearing: 128.413007 deg, deltaT: 5.717708 s, approachRate: -36.035446 m/s, LOS rate: -0.323374 deg/s, posRepo size: 4
2021-08-14T23:58:29.231Z,1628985509.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:58:29.692Z,1628985509.692 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:58:29.692Z,1628985509.692 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:58:29.692Z,1628985509.692 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:58:29.693Z,1628985509.693 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:58:30.033Z,1628985510.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,045FE,187,80,80,36,FF
2021-08-14T23:58:30.033Z,1628985510.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:58:30.033Z,1628985510.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:58:30.035Z,1628985510.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:58:30.456Z,1628985510.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:58:31.271Z,1628985511.271 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235831.23*51

2021-08-14T23:58:32.099Z,1628985512.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:58:33.673Z,1628985513.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,090A9,185,80,80,57,FF
2021-08-14T23:58:33.674Z,1628985513.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:58:34.123Z,1628985514.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2184.479980 m, bearing: 124.350711 deg, deltaT: 7.217931 s, approachRate: 158.895950 m/s, LOS rate: -0.562806 deg/s, posRepo size: 4
2021-08-14T23:58:34.123Z,1628985514.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2184.48 m. Resuming terminal guidance.
2021-08-14T23:58:34.124Z,1628985514.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T23:58:36.534Z,1628985516.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:58:36.913Z,1628985516.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:58:36.913Z,1628985516.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:58:36.913Z,1628985516.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:58:36.914Z,1628985516.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:58:37.313Z,1628985517.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,090A9,185,80,80,57,FF
2021-08-14T23:58:37.313Z,1628985517.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:58:37.313Z,1628985517.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:58:37.315Z,1628985517.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:58:37.725Z,1628985517.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:58:38.549Z,1628985518.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,013E7,186,80,80,41,FF
2021-08-14T23:58:38.549Z,1628985518.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:58:38.553Z,1628985518.553 [Micromodem](INFO): Nmea in: $SNTTA,0.233538,,,,235838.51*4F

2021-08-14T23:58:38.992Z,1628985518.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.199982 m, bearing: 110.366868 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T23:58:38.993Z,1628985518.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 110.366868deg and heading rate command to 0 deg/s.
2021-08-14T23:58:41.421Z,1628985521.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:58:41.824Z,1628985521.824 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:58:41.824Z,1628985521.824 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:58:41.825Z,1628985521.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:58:41.826Z,1628985521.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:58:42.177Z,1628985522.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,013E7,186,80,80,41,FF
2021-08-14T23:58:42.177Z,1628985522.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:58:42.178Z,1628985522.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:58:42.179Z,1628985522.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:58:42.596Z,1628985522.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:58:43.437Z,1628985523.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E8,000,01419,18A,80,80,2D,FF
2021-08-14T23:58:43.437Z,1628985523.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:58:43.441Z,1628985523.441 [Micromodem](INFO): Nmea in: $SNTTA,0.183085,,,,235843.37*48

2021-08-14T23:58:43.836Z,1628985523.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.199982 m, bearing: 82.162128 deg, deltaT: 4.891627 s, approachRate: 0.613293 m/s, LOS rate: -5.765922 deg/s, posRepo size: 2
2021-08-14T23:58:43.838Z,1628985523.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.199982 m,
      bearing: 82.162128 deg,
      approachRate: 0.613293 m/s,
      LOS rate: -5.765922 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 110.366868 deg,
      new cmd heading: 110.366868 deg.

2021-08-14T23:58:46.278Z,1628985526.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:58:46.613Z,1628985526.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:58:46.613Z,1628985526.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:58:46.613Z,1628985526.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:58:46.614Z,1628985526.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:58:47.017Z,1628985527.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E8,000,01419,18A,80,80,2D,FF
2021-08-14T23:58:47.017Z,1628985527.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:58:47.017Z,1628985527.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:58:47.019Z,1628985527.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:58:47.436Z,1628985527.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:58:48.250Z,1628985528.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,0144E,185,80,80,3E,FF
2021-08-14T23:58:48.250Z,1628985528.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:58:48.278Z,1628985528.278 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235848.21*5D

2021-08-14T23:58:48.675Z,1628985528.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 274.380005 m, bearing: 128.621000 deg, deltaT: 4.827829 s, approachRate: 0.658686 m/s, LOS rate: 9.623140 deg/s, posRepo size: 3
2021-08-14T23:58:48.677Z,1628985528.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 274.380005 m,
      bearing: 128.621000 deg,
      approachRate: 0.658686 m/s,
      LOS rate: 9.623140 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 52.297727 deg,
      new cmd heading: 48.167135 deg.

2021-08-14T23:58:51.082Z,1628985531.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:58:51.457Z,1628985531.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:58:51.457Z,1628985531.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:58:51.457Z,1628985531.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:58:51.458Z,1628985531.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:58:51.865Z,1628985531.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E77,000,0144E,185,80,80,3E,FF
2021-08-14T23:58:51.865Z,1628985531.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:58:51.865Z,1628985531.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:58:51.867Z,1628985531.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:58:52.275Z,1628985532.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:58:53.101Z,1628985533.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,376,000,0118E,189,80,80,6C,FF
2021-08-14T23:58:53.101Z,1628985533.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:58:53.104Z,1628985533.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235853.06*52

2021-08-14T23:58:53.535Z,1628985533.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.139984 m, bearing: 48.231606 deg, deltaT: 4.785125 s, approachRate: -8.827360 m/s, LOS rate: -16.799853 deg/s, posRepo size: 4
2021-08-14T23:58:53.535Z,1628985533.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.799853 deg/s. Setting heading cmd to target bearing of 48.231606deg and heading rate command to 0 deg/s.
2021-08-14T23:58:55.990Z,1628985535.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:58:56.401Z,1628985536.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:58:56.401Z,1628985536.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:58:56.401Z,1628985536.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:58:56.402Z,1628985536.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:58:56.725Z,1628985536.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
376,000,0118E,189,80,80,6C,FF
2021-08-14T23:58:56.725Z,1628985536.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:58:56.725Z,1628985536.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:58:56.727Z,1628985536.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:58:57.128Z,1628985537.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:58:57.981Z,1628985537.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,232,000,0149C,189,80,80,70,FF
2021-08-14T23:58:57.981Z,1628985537.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:58:57.984Z,1628985537.984 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235857.92*5B

2021-08-14T23:58:58.411Z,1628985538.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 279.059998 m, bearing: 56.199107 deg, deltaT: 4.932326 s, approachRate: 9.512756 m/s, LOS rate: 1.615364 deg/s, posRepo size: 4
2021-08-14T23:58:58.413Z,1628985538.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 279.059998 m,
      bearing: 56.199107 deg,
      approachRate: 9.512756 m/s,
      LOS rate: 1.615364 deg/s,
      cmd update: 6.461455 deg/s,
      cmd heading: 48.231606 deg,
      new cmd heading: 48.231606 deg.

2021-08-14T23:59:00.786Z,1628985540.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:59:01.153Z,1628985541.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:59:01.153Z,1628985541.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:59:01.153Z,1628985541.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:59:01.154Z,1628985541.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:59:01.557Z,1628985541.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
232,000,0149C,189,80,80,70,FF
2021-08-14T23:59:01.557Z,1628985541.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:59:01.557Z,1628985541.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:59:01.559Z,1628985541.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:59:01.989Z,1628985541.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:59:02.777Z,1628985542.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,250,000,014C1,188,80,80,30,FF
2021-08-14T23:59:02.777Z,1628985542.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:59:03.204Z,1628985543.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.279999 m, bearing: 52.001748 deg, deltaT: 4.774216 s, approachRate: 0.464998 m/s, LOS rate: -0.879173 deg/s, posRepo size: 4
2021-08-14T23:59:03.206Z,1628985543.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.279999 m,
      bearing: 52.001748 deg,
      approachRate: 0.464998 m/s,
      LOS rate: -0.879173 deg/s,
      cmd update: -3.516690 deg/s,
      cmd heading: 79.105868 deg,
      new cmd heading: 81.570474 deg.

2021-08-14T23:59:05.625Z,1628985545.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:59:06.005Z,1628985546.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:59:06.005Z,1628985546.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:59:06.005Z,1628985546.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:59:06.006Z,1628985546.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:59:06.437Z,1628985546.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
250,000,014C1,188,80,80,30,FF
2021-08-14T23:59:06.437Z,1628985546.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:59:06.437Z,1628985546.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:59:06.439Z,1628985546.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:59:06.816Z,1628985546.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:59:07.623Z,1628985547.623 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,283,000,014DD,189,80,80,79,FF
2021-08-14T23:59:07.624Z,1628985547.624 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:59:07.647Z,1628985547.647 [Micromodem](INFO): Nmea in: $SNTTA,0.190975,,,,235907.63*4C

2021-08-14T23:59:08.088Z,1628985548.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 282.959991 m, bearing: 42.072302 deg, deltaT: 4.889325 s, approachRate: 0.343604 m/s, LOS rate: -2.030842 deg/s, posRepo size: 4
2021-08-14T23:59:08.090Z,1628985548.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.959991 m,
      bearing: 42.072302 deg,
      approachRate: 0.343604 m/s,
      LOS rate: -2.030842 deg/s,
      cmd update: -8.123367 deg/s,
      cmd heading: 61.911343 deg,
      new cmd heading: 60.601569 deg.

2021-08-14T23:59:10.495Z,1628985550.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:59:10.865Z,1628985550.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:59:10.865Z,1628985550.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:59:10.865Z,1628985550.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:59:10.866Z,1628985550.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:59:11.267Z,1628985551.267 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
283,000,014DD,189,80,80,79,FF
2021-08-14T23:59:11.267Z,1628985551.267 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:59:11.267Z,1628985551.267 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:59:11.270Z,1628985551.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:59:11.665Z,1628985551.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:59:12.063Z,1628985552.063 [Micromodem](INFO): Nmea in: $SNTTA,0.257361,0.257299,,,235912.46*54

2021-08-14T23:59:13.282Z,1628985553.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,04760,189,80,80,79,FF
2021-08-14T23:59:13.282Z,1628985553.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:59:13.732Z,1628985553.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1058.820068 m, bearing: 39.315160 deg, deltaT: 5.591503 s, approachRate: 138.756989 m/s, LOS rate: -0.493095 deg/s, posRepo size: 4
2021-08-14T23:59:13.734Z,1628985553.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1058.820068 m,
      bearing: 39.315160 deg,
      approachRate: 138.756989 m/s,
      LOS rate: -0.493095 deg/s,
      cmd update: -1.972380 deg/s,
      cmd heading: 16.457418 deg,
      new cmd heading: 13.008326 deg.

2021-08-14T23:59:16.170Z,1628985556.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:59:16.505Z,1628985556.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:59:16.505Z,1628985556.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:59:16.505Z,1628985556.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:59:16.506Z,1628985556.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:59:16.917Z,1628985556.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,04760,189,80,80,79,FF
2021-08-14T23:59:16.917Z,1628985556.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:59:16.917Z,1628985556.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:59:16.919Z,1628985556.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:59:17.321Z,1628985557.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:59:18.131Z,1628985558.131 [Micromodem](INFO): Nmea in: $SNTTA,0.432755,0.432780,,,235918.11*52

2021-08-14T23:59:18.938Z,1628985558.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,0476F,183,80,80,4D,FF
2021-08-14T23:59:18.938Z,1628985558.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:59:19.402Z,1628985559.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1059.720093 m, bearing: 52.390853 deg, deltaT: 5.649629 s, approachRate: 0.159307 m/s, LOS rate: 2.314434 deg/s, posRepo size: 4
2021-08-14T23:59:19.405Z,1628985559.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1059.720093 m,
      bearing: 52.390853 deg,
      approachRate: 0.159307 m/s,
      LOS rate: 2.314434 deg/s,
      cmd update: 9.257736 deg/s,
      cmd heading: 5.314497 deg,
      new cmd heading: 4.435208 deg.

2021-08-14T23:59:21.855Z,1628985561.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:59:22.177Z,1628985562.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:59:22.177Z,1628985562.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:59:22.177Z,1628985562.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:59:22.178Z,1628985562.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:59:22.581Z,1628985562.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,0476F,183,80,80,4D,FF
2021-08-14T23:59:22.581Z,1628985562.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:59:22.581Z,1628985562.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:59:22.583Z,1628985562.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:59:23.049Z,1628985563.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:59:23.825Z,1628985563.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,309,000,01512,189,80,80,81,FF
2021-08-14T23:59:23.825Z,1628985563.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:59:23.829Z,1628985563.829 [Micromodem](INFO): Nmea in: $SNTTA,0.192735,,,,235923.77*47

2021-08-14T23:59:24.255Z,1628985564.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 286.139984 m, bearing: 355.908973 deg, deltaT: 4.888182 s, approachRate: -158.255173 m/s, LOS rate: -11.554783 deg/s, posRepo size: 4
2021-08-14T23:59:24.257Z,1628985564.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.554783 deg/s. Setting heading cmd to target bearing of 355.908973deg and heading rate command to 0 deg/s.
2021-08-14T23:59:26.657Z,1628985566.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:59:27.025Z,1628985567.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:59:27.025Z,1628985567.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:59:27.025Z,1628985567.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:59:27.026Z,1628985567.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:59:27.429Z,1628985567.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
309,000,01512,189,80,80,81,FF
2021-08-14T23:59:27.429Z,1628985567.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:59:27.429Z,1628985567.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:59:27.431Z,1628985567.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:59:27.833Z,1628985567.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:59:28.649Z,1628985568.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01509,189,80,80,52,FF
2021-08-14T23:59:28.649Z,1628985568.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:59:28.652Z,1628985568.652 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235928.62*5D

2021-08-14T23:59:29.084Z,1628985569.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 285.599976 m, bearing: 334.703120 deg, deltaT: 4.873574 s, approachRate: -0.110803 m/s, LOS rate: -4.351191 deg/s, posRepo size: 4
2021-08-14T23:59:29.086Z,1628985569.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 285.599976 m,
      bearing: 334.703120 deg,
      approachRate: -0.110803 m/s,
      LOS rate: -4.351191 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 355.908973 deg,
      new cmd heading: 355.908973 deg.

2021-08-14T23:59:31.492Z,1628985571.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:59:31.877Z,1628985571.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:59:31.877Z,1628985571.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:59:31.878Z,1628985571.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:59:31.879Z,1628985571.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:59:32.262Z,1628985572.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01509,189,80,80,52,FF
2021-08-14T23:59:32.262Z,1628985572.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:59:32.262Z,1628985572.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:59:32.265Z,1628985572.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:59:32.682Z,1628985572.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:59:33.505Z,1628985573.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01507,18A,80,80,7B,FF
2021-08-14T23:59:33.505Z,1628985573.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:59:33.508Z,1628985573.508 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235933.46*51

2021-08-14T23:59:33.957Z,1628985573.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 285.480011 m, bearing: 337.446507 deg, deltaT: 4.816263 s, approachRate: -0.024908 m/s, LOS rate: 0.569609 deg/s, posRepo size: 4
2021-08-14T23:59:33.959Z,1628985573.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 285.480011 m,
      bearing: 337.446507 deg,
      approachRate: -0.024908 m/s,
      LOS rate: 0.569609 deg/s,
      cmd update: 2.278436 deg/s,
      cmd heading: 298.066547 deg,
      new cmd heading: 293.055311 deg.

2021-08-14T23:59:36.449Z,1628985576.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:59:36.745Z,1628985576.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:59:36.745Z,1628985576.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:59:36.745Z,1628985576.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:59:36.745Z,1628985576.745 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:59:37.125Z,1628985577.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01507,18A,80,80,7B,FF
2021-08-14T23:59:37.125Z,1628985577.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:59:37.125Z,1628985577.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:59:37.127Z,1628985577.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:59:37.536Z,1628985577.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:59:38.342Z,1628985578.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,014FD,189,80,80,67,FF
2021-08-14T23:59:38.343Z,1628985578.343 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:59:38.371Z,1628985578.371 [Micromodem](INFO): Nmea in: $SNTTA,0.329073,0.329011,,,235938.32*5D

2021-08-14T23:59:38.764Z,1628985578.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 284.880005 m, bearing: 320.694184 deg, deltaT: 4.912270 s, approachRate: -0.122144 m/s, LOS rate: -3.410302 deg/s, posRepo size: 4
2021-08-14T23:59:38.766Z,1628985578.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.880005 m,
      bearing: 320.694184 deg,
      approachRate: -0.122144 m/s,
      LOS rate: -3.410302 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 309.240753 deg,
      new cmd heading: 309.980352 deg.

2021-08-14T23:59:41.194Z,1628985581.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:59:41.565Z,1628985581.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:59:41.566Z,1628985581.566 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:59:41.566Z,1628985581.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:59:41.567Z,1628985581.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:59:41.985Z,1628985581.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,014FD,189,80,80,67,FF
2021-08-14T23:59:41.985Z,1628985581.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:59:41.985Z,1628985581.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:59:41.987Z,1628985581.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:59:42.395Z,1628985582.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:59:43.179Z,1628985583.179 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,014E3,189,80,80,4F,FF
2021-08-14T23:59:43.196Z,1628985583.196 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:59:43.205Z,1628985583.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235943.18*5D

2021-08-14T23:59:43.630Z,1628985583.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 283.320007 m, bearing: 299.694439 deg, deltaT: 4.818224 s, approachRate: -0.323770 m/s, LOS rate: -4.358399 deg/s, posRepo size: 4
2021-08-14T23:59:43.639Z,1628985583.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 283.320007 m,
      bearing: 299.694439 deg,
      approachRate: -0.323770 m/s,
      LOS rate: -4.358399 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 251.540840 deg,
      new cmd heading: 246.947191 deg.

2021-08-14T23:59:46.043Z,1628985586.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:59:46.434Z,1628985586.434 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:59:46.434Z,1628985586.434 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:59:46.434Z,1628985586.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:59:46.435Z,1628985586.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:59:46.813Z,1628985586.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,014E3,189,80,80,4F,FF
2021-08-14T23:59:46.813Z,1628985586.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:59:46.814Z,1628985586.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:59:46.815Z,1628985586.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:59:47.229Z,1628985587.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:59:48.050Z,1628985588.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39E,000,014C2,189,80,80,42,FF
2021-08-14T23:59:48.051Z,1628985588.051 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:59:48.059Z,1628985588.059 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235948.01*5E

2021-08-14T23:59:48.479Z,1628985588.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.339996 m, bearing: 298.594232 deg, deltaT: 4.887686 s, approachRate: -0.405102 m/s, LOS rate: -0.225098 deg/s, posRepo size: 4
2021-08-14T23:59:48.482Z,1628985588.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.339996 m,
      bearing: 298.594232 deg,
      approachRate: -0.405102 m/s,
      LOS rate: -0.225098 deg/s,
      cmd update: -0.900391 deg/s,
      cmd heading: 192.775806 deg,
      new cmd heading: 188.755014 deg.

2021-08-14T23:59:50.959Z,1628985590.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:59:51.262Z,1628985591.262 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:59:51.262Z,1628985591.262 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:59:51.262Z,1628985591.262 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:59:51.263Z,1628985591.263 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:59:51.660Z,1628985591.660 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39E,000,014C2,189,80,80,42,FF
2021-08-14T23:59:51.660Z,1628985591.660 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:59:51.660Z,1628985591.660 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:59:51.662Z,1628985591.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:59:52.062Z,1628985592.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:59:52.865Z,1628985592.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,213,000,01482,187,80,80,4C,FF
2021-08-14T23:59:52.865Z,1628985592.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:59:53.299Z,1628985593.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 277.499969 m, bearing: 298.345231 deg, deltaT: 4.730286 s, approachRate: -0.811796 m/s, LOS rate: -0.052640 deg/s, posRepo size: 4
2021-08-14T23:59:53.301Z,1628985593.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 277.499969 m,
      bearing: 298.345231 deg,
      approachRate: -0.811796 m/s,
      LOS rate: -0.052640 deg/s,
      cmd update: -0.210559 deg/s,
      cmd heading: 188.509138 deg,
      new cmd heading: 188.134700 deg.

2021-08-14T23:59:55.413Z,1628985595.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T23:59:55.694Z,1628985595.694 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T23:59:55.694Z,1628985595.694 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T23:59:55.694Z,1628985595.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T23:59:55.695Z,1628985595.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T23:59:56.106Z,1628985596.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
213,000,01482,187,80,80,4C,FF
2021-08-14T23:59:56.106Z,1628985596.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T23:59:56.106Z,1628985596.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T23:59:56.107Z,1628985596.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T23:59:56.508Z,1628985596.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T23:59:57.345Z,1628985597.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,01456,186,80,80,6E,FF
2021-08-14T23:59:57.346Z,1628985597.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T23:59:57.355Z,1628985597.355 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235957.30*52

2021-08-14T23:59:57.749Z,1628985597.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 274.859985 m, bearing: 296.695467 deg, deltaT: 4.560291 s, approachRate: -0.578907 m/s, LOS rate: -0.361767 deg/s, posRepo size: 4
2021-08-14T23:59:57.751Z,1628985597.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 274.859985 m,
      bearing: 296.695467 deg,
      approachRate: -0.578907 m/s,
      LOS rate: -0.361767 deg/s,
      cmd update: -1.447069 deg/s,
      cmd heading: 187.549816 deg,
      new cmd heading: 187.484583 deg.

2021-08-15T00:00:00.179Z,1628985600.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:00:00.541Z,1628985600.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:00:00.541Z,1628985600.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:00:00.541Z,1628985600.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:00:00.542Z,1628985600.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:00:00.945Z,1628985600.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,01456,186,80,80,6E,FF
2021-08-15T00:00:00.945Z,1628985600.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:00:00.945Z,1628985600.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:00:00.947Z,1628985600.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:00:01.389Z,1628985601.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:00:02.242Z,1628985602.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,01414,186,80,80,6B,FF
2021-08-15T00:00:02.243Z,1628985602.243 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:00:02.247Z,1628985602.247 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000002.14*59

2021-08-15T00:00:02.719Z,1628985602.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 270.899994 m, bearing: 295.536931 deg, deltaT: 4.915397 s, approachRate: -0.805630 m/s, LOS rate: -0.235695 deg/s, posRepo size: 4
2021-08-15T00:00:02.722Z,1628985602.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.899994 m,
      bearing: 295.536931 deg,
      approachRate: -0.805630 m/s,
      LOS rate: -0.235695 deg/s,
      cmd update: -0.942782 deg/s,
      cmd heading: 180.457573 deg,
      new cmd heading: 179.908956 deg.

2021-08-15T00:00:05.003Z,1628985605.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:00:05.425Z,1628985605.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:00:05.425Z,1628985605.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:00:05.425Z,1628985605.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:00:05.426Z,1628985605.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:00:05.793Z,1628985605.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,000,01414,186,80,80,6B,FF
2021-08-15T00:00:05.793Z,1628985605.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:00:05.793Z,1628985605.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:00:05.795Z,1628985605.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:00:06.204Z,1628985606.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:00:07.025Z,1628985607.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,223,000,013DD,189,80,80,56,FF
2021-08-15T00:00:07.025Z,1628985607.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:00:07.028Z,1628985607.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000006.99*58

2021-08-15T00:00:07.483Z,1628985607.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 267.600006 m, bearing: 237.465378 deg, deltaT: 4.685355 s, approachRate: -0.704320 m/s, LOS rate: -12.394270 deg/s, posRepo size: 4
2021-08-15T00:00:07.483Z,1628985607.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.394270 deg/s. Setting heading cmd to target bearing of 237.465378deg and heading rate command to 0 deg/s.
2021-08-15T00:00:09.847Z,1628985609.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:00:10.237Z,1628985610.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:00:10.237Z,1628985610.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:00:10.238Z,1628985610.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:00:10.238Z,1628985610.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:00:10.645Z,1628985610.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
223,000,013DD,189,80,80,56,FF
2021-08-15T00:00:10.646Z,1628985610.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:00:10.646Z,1628985610.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:00:10.647Z,1628985610.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:00:11.053Z,1628985611.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:00:11.869Z,1628985611.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B52,000,013AF,188,80,80,87,FF
2021-08-15T00:00:11.871Z,1628985611.871 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:00:11.905Z,1628985611.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000011.84*52

2021-08-15T00:00:12.338Z,1628985612.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 264.839996 m, bearing: 302.740922 deg, deltaT: 4.926606 s, approachRate: -0.560225 m/s, LOS rate: 13.249597 deg/s, posRepo size: 4
2021-08-15T00:00:12.339Z,1628985612.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.249597 deg/s. Setting heading cmd to target bearing of 302.740922deg and heading rate command to 0 deg/s.
2021-08-15T00:00:14.714Z,1628985614.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:00:15.085Z,1628985615.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:00:15.085Z,1628985615.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:00:15.085Z,1628985615.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:00:15.086Z,1628985615.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:00:15.558Z,1628985615.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B52,000,013AF,188,80,80,87,FF
2021-08-15T00:00:15.558Z,1628985615.558 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:00:15.558Z,1628985615.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:00:15.559Z,1628985615.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:00:16.060Z,1628985616.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:00:16.743Z,1628985616.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0138C,18A,80,80,7E,FF
2021-08-15T00:00:16.744Z,1628985616.744 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:00:16.750Z,1628985616.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000016.78*56

2021-08-15T00:00:17.168Z,1628985617.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.739990 m, bearing: 294.033633 deg, deltaT: 4.872222 s, approachRate: -0.431016 m/s, LOS rate: -1.787129 deg/s, posRepo size: 4
2021-08-15T00:00:17.170Z,1628985617.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.739990 m,
      bearing: 294.033633 deg,
      approachRate: -0.431016 m/s,
      LOS rate: -1.787129 deg/s,
      cmd update: -7.148516 deg/s,
      cmd heading: 302.740922 deg,
      new cmd heading: 302.740922 deg.

2021-08-15T00:00:19.578Z,1628985619.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:00:19.981Z,1628985619.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:00:19.981Z,1628985619.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:00:19.981Z,1628985619.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:00:19.982Z,1628985619.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:00:20.390Z,1628985620.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0138C,18A,80,80,7E,FF
2021-08-15T00:00:20.390Z,1628985620.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:00:20.391Z,1628985620.391 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:00:20.392Z,1628985620.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:00:20.800Z,1628985620.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:00:21.637Z,1628985621.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C17,000,0136F,189,80,80,79,FF
2021-08-15T00:00:21.638Z,1628985621.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:00:21.641Z,1628985621.641 [Micromodem](INFO): Nmea in: $SNTTA,0.175876,,,,000021.59*45

2021-08-15T00:00:22.073Z,1628985622.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.000000 m, bearing: 293.948857 deg, deltaT: 4.823884 s, approachRate: -0.360703 m/s, LOS rate: -0.017574 deg/s, posRepo size: 4
2021-08-15T00:00:22.075Z,1628985622.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.000000 m,
      bearing: 293.948857 deg,
      approachRate: -0.360703 m/s,
      LOS rate: -0.017574 deg/s,
      cmd update: -0.070297 deg/s,
      cmd heading: 268.227266 deg,
      new cmd heading: 265.323418 deg.

2021-08-15T00:00:24.494Z,1628985624.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:00:24.841Z,1628985624.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:00:24.841Z,1628985624.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:00:24.841Z,1628985624.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:00:24.842Z,1628985624.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:00:25.258Z,1628985625.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C17,000,0136F,189,80,80,79,FF
2021-08-15T00:00:25.258Z,1628985625.258 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:00:25.259Z,1628985625.259 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:00:25.262Z,1628985625.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:00:25.661Z,1628985625.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:00:26.486Z,1628985626.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000026.45*5B

2021-08-15T00:00:27.304Z,1628985627.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:00:29.008Z,1628985629.008 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,79,FF
2021-08-15T00:00:29.009Z,1628985629.009 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,79,FF
2021-08-15T00:00:29.009Z,1628985629.009 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:00:30.150Z,1628985630.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:00:30.497Z,1628985630.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:00:30.497Z,1628985630.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:00:30.498Z,1628985630.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:00:30.499Z,1628985630.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:00:30.901Z,1628985630.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,79,FF
2021-08-15T00:00:30.902Z,1628985630.902 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:00:30.902Z,1628985630.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:00:30.903Z,1628985630.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:00:31.313Z,1628985631.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:00:32.141Z,1628985632.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,0130A,189,80,80,83,FF
2021-08-15T00:00:32.141Z,1628985632.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:00:32.145Z,1628985632.145 [Micromodem](INFO): Nmea in: $SNTTA,0.172122,,,,000032.10*45

2021-08-15T00:00:32.559Z,1628985632.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.939987 m, bearing: 305.777324 deg, deltaT: 10.554588 s, approachRate: -0.574159 m/s, LOS rate: 1.120694 deg/s, posRepo size: 4
2021-08-15T00:00:32.561Z,1628985632.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.939987 m,
      bearing: 305.777324 deg,
      approachRate: -0.574159 m/s,
      LOS rate: 1.120694 deg/s,
      cmd update: 4.482777 deg/s,
      cmd heading: 267.485586 deg,
      new cmd heading: 267.461581 deg.

2021-08-15T00:00:34.963Z,1628985634.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:00:35.341Z,1628985635.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:00:35.341Z,1628985635.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:00:35.341Z,1628985635.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:00:35.342Z,1628985635.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:00:35.739Z,1628985635.739 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,0130A,189,80,80,83,FF
2021-08-15T00:00:35.739Z,1628985635.739 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:00:35.739Z,1628985635.739 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:00:35.741Z,1628985635.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:00:36.152Z,1628985636.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:00:36.977Z,1628985636.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEB,000,012D2,187,80,80,5D,FF
2021-08-15T00:00:36.978Z,1628985636.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:00:36.981Z,1628985636.981 [Micromodem](INFO): Nmea in: $SNTTA,0.170298,,,,000036.94*4D

2021-08-15T00:00:37.436Z,1628985637.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.579987 m, bearing: 303.924457 deg, deltaT: 4.807183 s, approachRate: -0.698954 m/s, LOS rate: -0.385437 deg/s, posRepo size: 4
2021-08-15T00:00:37.438Z,1628985637.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.579987 m,
      bearing: 303.924457 deg,
      approachRate: -0.698954 m/s,
      LOS rate: -0.385437 deg/s,
      cmd update: -1.541748 deg/s,
      cmd heading: 288.908536 deg,
      new cmd heading: 290.878834 deg.

2021-08-15T00:00:39.803Z,1628985639.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:00:40.193Z,1628985640.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:00:40.193Z,1628985640.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:00:40.193Z,1628985640.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:00:40.194Z,1628985640.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:00:40.593Z,1628985640.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEB,000,012D2,187,80,80,5D,FF
2021-08-15T00:00:40.593Z,1628985640.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:00:40.594Z,1628985640.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:00:40.595Z,1628985640.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:00:41.004Z,1628985641.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:00:41.914Z,1628985641.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,0129A,187,80,80,91,FF
2021-08-15T00:00:41.915Z,1628985641.915 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:00:41.925Z,1628985641.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000041.79*55

2021-08-15T00:00:42.275Z,1628985642.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.219986 m, bearing: 301.813547 deg, deltaT: 4.998236 s, approachRate: -0.672237 m/s, LOS rate: -0.422331 deg/s, posRepo size: 4
2021-08-15T00:00:42.281Z,1628985642.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.219986 m,
      bearing: 301.813547 deg,
      approachRate: -0.672237 m/s,
      LOS rate: -0.422331 deg/s,
      cmd update: -1.689325 deg/s,
      cmd heading: 281.159248 deg,
      new cmd heading: 280.772474 deg.

2021-08-15T00:00:44.682Z,1628985644.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:00:45.037Z,1628985645.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:00:45.037Z,1628985645.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:00:45.038Z,1628985645.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:00:45.039Z,1628985645.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:00:45.445Z,1628985645.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,0129A,187,80,80,91,FF
2021-08-15T00:00:45.446Z,1628985645.446 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:00:45.446Z,1628985645.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:00:45.452Z,1628985645.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:00:45.849Z,1628985645.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:00:46.685Z,1628985646.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,0125F,186,80,80,7B,FF
2021-08-15T00:00:46.685Z,1628985646.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:00:46.688Z,1628985646.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000046.64*5E

2021-08-15T00:00:47.088Z,1628985647.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.679977 m, bearing: 299.198950 deg, deltaT: 4.687664 s, approachRate: -0.755175 m/s, LOS rate: -0.557761 deg/s, posRepo size: 4
2021-08-15T00:00:47.090Z,1628985647.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 244.679977 m,
      bearing: 299.198950 deg,
      approachRate: -0.755175 m/s,
      LOS rate: -0.557761 deg/s,
      cmd update: -2.231044 deg/s,
      cmd heading: 273.233564 deg,
      new cmd heading: 272.602199 deg.

2021-08-15T00:00:49.532Z,1628985649.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:00:49.900Z,1628985649.900 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:00:49.901Z,1628985649.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:00:49.901Z,1628985649.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:00:49.903Z,1628985649.903 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:00:50.297Z,1628985650.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,0125F,186,80,80,7B,FF
2021-08-15T00:00:50.297Z,1628985650.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:00:50.297Z,1628985650.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:00:50.299Z,1628985650.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:00:50.712Z,1628985650.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:00:51.540Z,1628985651.540 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,01225,186,80,80,88,FF
2021-08-15T00:00:51.541Z,1628985651.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:00:51.544Z,1628985651.544 [Micromodem](INFO): Nmea in: $SNTTA,0.163423,,,,000051.49*48

2021-08-15T00:00:51.986Z,1628985651.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.199997 m, bearing: 300.586981 deg, deltaT: 4.856304 s, approachRate: -0.716590 m/s, LOS rate: 0.285820 deg/s, posRepo size: 4
2021-08-15T00:00:51.988Z,1628985651.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.199997 m,
      bearing: 300.586981 deg,
      approachRate: -0.716590 m/s,
      LOS rate: 0.285820 deg/s,
      cmd update: 1.143282 deg/s,
      cmd heading: 262.399027 deg,
      new cmd heading: 261.472829 deg.

2021-08-15T00:00:54.385Z,1628985654.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:00:54.741Z,1628985654.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:00:54.741Z,1628985654.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:00:54.741Z,1628985654.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:00:54.742Z,1628985654.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:00:55.141Z,1628985655.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,01225,186,80,80,88,FF
2021-08-15T00:00:55.141Z,1628985655.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:00:55.141Z,1628985655.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:00:55.143Z,1628985655.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:00:55.616Z,1628985655.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:00:56.078Z,1628985656.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D69,000,011ED,18A,80,80,72,FF
2021-08-15T00:00:56.078Z,1628985656.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:00:56.445Z,1628985656.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000056.34*5A

2021-08-15T00:00:56.505Z,1628985656.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.839996 m, bearing: 302.722590 deg, deltaT: 4.569367 s, approachRate: -0.735332 m/s, LOS rate: 0.467375 deg/s, posRepo size: 4
2021-08-15T00:00:56.507Z,1628985656.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.839996 m,
      bearing: 302.722590 deg,
      approachRate: -0.735332 m/s,
      LOS rate: 0.467375 deg/s,
      cmd update: 1.869501 deg/s,
      cmd heading: 267.623335 deg,
      new cmd heading: 268.040135 deg.

2021-08-15T00:00:58.852Z,1628985658.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:00:59.225Z,1628985659.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:00:59.225Z,1628985659.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:00:59.225Z,1628985659.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:00:59.226Z,1628985659.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:00:59.637Z,1628985659.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D69,000,011ED,18A,80,80,72,FF
2021-08-15T00:00:59.637Z,1628985659.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:00:59.637Z,1628985659.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:00:59.639Z,1628985659.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:01:00.036Z,1628985660.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:01:00.460Z,1628985660.460 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-15T00:01:00.460Z,1628985660.460 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-15T00:01:00.460Z,1628985660.460 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-15T00:01:00.668Z,1628985660.668 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-15T00:01:00.913Z,1628985660.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6A,000,011BC,189,80,80,9B,FF
2021-08-15T00:01:00.913Z,1628985660.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:01:00.964Z,1628985660.964 [Micromodem](INFO): Nmea in: $SNTTA,0.162154,,,,000100.83*4F

2021-08-15T00:01:01.096Z,1628985661.096 [RDI_PathfinderUp](INFO): Powering down
2021-08-15T00:01:01.476Z,1628985661.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.899994 m, bearing: 307.834741 deg, deltaT: 4.990329 s, approachRate: -0.589140 m/s, LOS rate: 1.024412 deg/s, posRepo size: 4
2021-08-15T00:01:01.478Z,1628985661.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.899994 m,
      bearing: 307.834741 deg,
      approachRate: -0.589140 m/s,
      LOS rate: 1.024412 deg/s,
      cmd update: 4.097646 deg/s,
      cmd heading: 276.947921 deg,
      new cmd heading: 277.598522 deg.

2021-08-15T00:01:02.056Z,1628985662.056 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-15T00:01:02.056Z,1628985662.056 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-15T00:01:03.961Z,1628985663.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:01:04.278Z,1628985664.278 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:01:04.278Z,1628985664.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:01:04.279Z,1628985664.279 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:01:04.279Z,1628985664.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:01:04.687Z,1628985664.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6A,000,011BC,189,80,80,9B,FF
2021-08-15T00:01:04.687Z,1628985664.687 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:01:04.687Z,1628985664.687 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:01:04.689Z,1628985664.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:01:05.077Z,1628985665.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:01:05.922Z,1628985665.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA0,000,01184,186,80,80,6B,FF
2021-08-15T00:01:05.923Z,1628985665.923 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:01:05.938Z,1628985665.938 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000105.88*5A

2021-08-15T00:01:06.337Z,1628985666.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.539993 m, bearing: 303.692176 deg, deltaT: 4.894787 s, approachRate: -0.686445 m/s, LOS rate: -0.846322 deg/s, posRepo size: 4
2021-08-15T00:01:06.339Z,1628985666.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.539993 m,
      bearing: 303.692176 deg,
      approachRate: -0.686445 m/s,
      LOS rate: -0.846322 deg/s,
      cmd update: -3.385287 deg/s,
      cmd heading: 297.004473 deg,
      new cmd heading: 298.290409 deg.

2021-08-15T00:01:08.795Z,1628985668.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:01:09.149Z,1628985669.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:01:09.149Z,1628985669.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:01:09.149Z,1628985669.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:01:09.150Z,1628985669.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:01:09.617Z,1628985669.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA0,000,01184,186,80,80,6B,FF
2021-08-15T00:01:09.618Z,1628985669.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:01:09.618Z,1628985669.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:01:09.619Z,1628985669.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:01:10.009Z,1628985670.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:01:10.770Z,1628985670.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,01151,183,80,80,69,FF
2021-08-15T00:01:10.770Z,1628985670.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:01:10.794Z,1628985670.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000110.81*57

2021-08-15T00:01:11.180Z,1628985671.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.479996 m, bearing: 300.308774 deg, deltaT: 4.831838 s, approachRate: -0.633299 m/s, LOS rate: -0.700231 deg/s, posRepo size: 4
2021-08-15T00:01:11.182Z,1628985671.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.479996 m,
      bearing: 300.308774 deg,
      approachRate: -0.633299 m/s,
      LOS rate: -0.700231 deg/s,
      cmd update: -2.800924 deg/s,
      cmd heading: 280.688318 deg,
      new cmd heading: 279.545259 deg.

2021-08-15T00:01:13.598Z,1628985673.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:01:13.981Z,1628985673.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:01:13.981Z,1628985673.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:01:13.981Z,1628985673.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:01:13.982Z,1628985673.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:01:14.377Z,1628985674.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,01151,183,80,80,69,FF
2021-08-15T00:01:14.378Z,1628985674.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:01:14.378Z,1628985674.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:01:14.379Z,1628985674.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:01:14.772Z,1628985674.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:01:15.633Z,1628985675.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,01110,186,80,80,9C,FF
2021-08-15T00:01:15.634Z,1628985675.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:01:15.637Z,1628985675.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000115.57*59

2021-08-15T00:01:16.069Z,1628985676.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.580002 m, bearing: 305.840735 deg, deltaT: 4.798111 s, approachRate: -0.812819 m/s, LOS rate: 1.152946 deg/s, posRepo size: 4
2021-08-15T00:01:16.071Z,1628985676.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.580002 m,
      bearing: 305.840735 deg,
      approachRate: -0.812819 m/s,
      LOS rate: 1.152946 deg/s,
      cmd update: 4.611783 deg/s,
      cmd heading: 267.207727 deg,
      new cmd heading: 266.061513 deg.

2021-08-15T00:01:18.483Z,1628985678.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:01:18.817Z,1628985678.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:01:18.817Z,1628985678.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:01:18.817Z,1628985678.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:01:18.818Z,1628985678.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:01:19.226Z,1628985679.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,01110,186,80,80,9C,FF
2021-08-15T00:01:19.226Z,1628985679.226 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:01:19.226Z,1628985679.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:01:19.228Z,1628985679.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:01:19.636Z,1628985679.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:01:20.055Z,1628985680.055 [Micromodem](INFO): Nmea in: $SNTTA,0.149492,0.276148,,,000120.42*56

2021-08-15T00:01:20.465Z,1628985680.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,010D8,189,80,80,90,FF
2021-08-15T00:01:20.465Z,1628985680.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:01:20.864Z,1628985680.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.220001 m, bearing: 307.778733 deg, deltaT: 4.838108 s, approachRate: -0.694486 m/s, LOS rate: 0.400569 deg/s, posRepo size: 4
2021-08-15T00:01:20.866Z,1628985680.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.220001 m,
      bearing: 307.778733 deg,
      approachRate: -0.694486 m/s,
      LOS rate: 0.400569 deg/s,
      cmd update: 1.602277 deg/s,
      cmd heading: 289.518694 deg,
      new cmd heading: 291.227419 deg.

2021-08-15T00:01:23.313Z,1628985683.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:01:23.685Z,1628985683.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:01:23.685Z,1628985683.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:01:23.685Z,1628985683.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:01:23.686Z,1628985683.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:01:24.101Z,1628985684.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,010D8,189,80,80,90,FF
2021-08-15T00:01:24.101Z,1628985684.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:01:24.101Z,1628985684.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:01:24.103Z,1628985684.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:01:24.469Z,1628985684.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:01:25.304Z,1628985685.304 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,0109F,186,80,80,98,FF
2021-08-15T00:01:25.304Z,1628985685.304 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:01:25.307Z,1628985685.307 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000125.30*5B

2021-08-15T00:01:25.718Z,1628985685.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.800003 m, bearing: 306.668882 deg, deltaT: 4.829449 s, approachRate: -0.708155 m/s, LOS rate: -0.229809 deg/s, posRepo size: 4
2021-08-15T00:01:25.721Z,1628985685.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.800003 m,
      bearing: 306.668882 deg,
      approachRate: -0.708155 m/s,
      LOS rate: -0.229809 deg/s,
      cmd update: -0.919236 deg/s,
      cmd heading: 297.257320 deg,
      new cmd heading: 297.890742 deg.

2021-08-15T00:01:28.157Z,1628985688.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:01:28.505Z,1628985688.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:01:28.505Z,1628985688.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:01:28.505Z,1628985688.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:01:28.506Z,1628985688.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:01:28.917Z,1628985688.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,0109F,186,80,80,98,FF
2021-08-15T00:01:28.917Z,1628985688.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:01:28.917Z,1628985688.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:01:28.919Z,1628985688.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:01:29.333Z,1628985689.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:01:30.150Z,1628985690.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE1,000,01066,185,80,80,87,FF
2021-08-15T00:01:30.150Z,1628985690.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:01:30.153Z,1628985690.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000130.11*5C

2021-08-15T00:01:30.566Z,1628985690.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.379974 m, bearing: 304.618186 deg, deltaT: 4.913797 s, approachRate: -0.696005 m/s, LOS rate: -0.417334 deg/s, posRepo size: 4
2021-08-15T00:01:30.569Z,1628985690.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.379974 m,
      bearing: 304.618186 deg,
      approachRate: -0.696005 m/s,
      LOS rate: -0.417334 deg/s,
      cmd update: -1.669337 deg/s,
      cmd heading: 292.741907 deg,
      new cmd heading: 292.437236 deg.

2021-08-15T00:01:32.995Z,1628985692.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:01:33.369Z,1628985693.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:01:33.369Z,1628985693.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:01:33.369Z,1628985693.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:01:33.370Z,1628985693.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:01:33.769Z,1628985693.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE1,000,01066,185,80,80,87,FF
2021-08-15T00:01:33.769Z,1628985693.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:01:33.769Z,1628985693.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:01:33.771Z,1628985693.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:01:34.185Z,1628985694.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:01:35.009Z,1628985695.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,000,0102B,187,80,80,A0,FF
2021-08-15T00:01:35.010Z,1628985695.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:01:35.013Z,1628985695.013 [Micromodem](INFO): Nmea in: $SNTTA,0.140329,,,,000134.97*45

2021-08-15T00:01:35.443Z,1628985695.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.839996 m, bearing: 305.486932 deg, deltaT: 4.791688 s, approachRate: -0.738775 m/s, LOS rate: 0.181303 deg/s, posRepo size: 4
2021-08-15T00:01:35.445Z,1628985695.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.839996 m,
      bearing: 305.486932 deg,
      approachRate: -0.738775 m/s,
      LOS rate: 0.181303 deg/s,
      cmd update: 0.725210 deg/s,
      cmd heading: 284.740315 deg,
      new cmd heading: 284.048006 deg.

2021-08-15T00:01:37.559Z,1628985697.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:01:37.961Z,1628985697.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:01:37.961Z,1628985697.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:01:37.961Z,1628985697.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:01:37.962Z,1628985697.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:01:38.337Z,1628985698.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F71,000,0102B,187,80,80,A0,FF
2021-08-15T00:01:38.337Z,1628985698.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:01:38.338Z,1628985698.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:01:38.340Z,1628985698.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:01:38.744Z,1628985698.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:01:39.561Z,1628985699.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,00FF4,187,80,80,91,FF
2021-08-15T00:01:39.562Z,1628985699.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:01:39.565Z,1628985699.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000139.53*53

2021-08-15T00:01:40.021Z,1628985700.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.539993 m, bearing: 307.987436 deg, deltaT: 4.590732 s, approachRate: -0.718840 m/s, LOS rate: 0.544685 deg/s, posRepo size: 4
2021-08-15T00:01:40.023Z,1628985700.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.539993 m,
      bearing: 307.987436 deg,
      approachRate: -0.718840 m/s,
      LOS rate: 0.544685 deg/s,
      cmd update: 2.178742 deg/s,
      cmd heading: 288.066453 deg,
      new cmd heading: 288.360849 deg.

2021-08-15T00:01:42.423Z,1628985702.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:01:42.773Z,1628985702.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:01:42.773Z,1628985702.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:01:42.773Z,1628985702.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:01:42.774Z,1628985702.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:01:43.173Z,1628985703.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,00FF4,187,80,80,91,FF
2021-08-15T00:01:43.173Z,1628985703.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:01:43.174Z,1628985703.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:01:43.175Z,1628985703.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:01:43.580Z,1628985703.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:01:44.030Z,1628985704.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,00FF4,187,80,80,91,FF
2021-08-15T00:01:44.030Z,1628985704.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:01:44.445Z,1628985704.445 [Micromodem](INFO): Nmea in: $SNTTA,0.135798,,,,000144.37*44

2021-08-15T00:01:44.483Z,1628985704.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.539993 m, bearing: 305.420078 deg, deltaT: 4.556112 s, approachRate: 0.000000 m/s, LOS rate: -0.563498 deg/s, posRepo size: 4
2021-08-15T00:01:44.485Z,1628985704.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.539993 m,
      bearing: 305.420078 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.563498 deg/s,
      cmd update: -2.253991 deg/s,
      cmd heading: 297.979188 deg,
      new cmd heading: 298.672594 deg.

2021-08-15T00:01:46.847Z,1628985706.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:01:47.213Z,1628985707.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:01:47.213Z,1628985707.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:01:47.213Z,1628985707.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:01:47.214Z,1628985707.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:01:47.613Z,1628985707.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFD,000,00FF4,187,80,80,91,FF
2021-08-15T00:01:47.613Z,1628985707.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:01:47.614Z,1628985707.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:01:47.615Z,1628985707.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:01:48.034Z,1628985708.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:01:48.458Z,1628985708.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,00FF4,187,80,80,91,FF
2021-08-15T00:01:48.458Z,1628985708.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:01:48.866Z,1628985708.866 [Micromodem](INFO): Nmea in: $SNTTA,0.133628,,,,000148.81*49

2021-08-15T00:01:48.882Z,1628985708.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.539993 m, bearing: 305.347842 deg, deltaT: 4.338380 s, approachRate: 0.000000 m/s, LOS rate: -0.016650 deg/s, posRepo size: 4
2021-08-15T00:01:48.884Z,1628985708.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.539993 m,
      bearing: 305.347842 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.016650 deg/s,
      cmd update: -0.066602 deg/s,
      cmd heading: 288.222637 deg,
      new cmd heading: 287.346400 deg.

2021-08-15T00:01:51.294Z,1628985711.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:01:51.657Z,1628985711.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:01:51.657Z,1628985711.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:01:51.658Z,1628985711.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:01:51.659Z,1628985711.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:01:52.066Z,1628985712.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,00FF4,187,80,80,91,FF
2021-08-15T00:01:52.066Z,1628985712.066 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:01:52.066Z,1628985712.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:01:52.068Z,1628985712.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:01:52.473Z,1628985712.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:01:53.301Z,1628985713.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,00F4B,186,80,80,AB,FF
2021-08-15T00:01:53.301Z,1628985713.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:01:53.304Z,1628985713.304 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000153.26*5D

2021-08-15T00:01:53.720Z,1628985713.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.399994 m, bearing: 304.857653 deg, deltaT: 4.847478 s, approachRate: -2.091809 m/s, LOS rate: -0.101122 deg/s, posRepo size: 4
2021-08-15T00:01:53.722Z,1628985713.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.399994 m,
      bearing: 304.857653 deg,
      approachRate: -2.091809 m/s,
      LOS rate: -0.101122 deg/s,
      cmd update: -0.404490 deg/s,
      cmd heading: 287.899273 deg,
      new cmd heading: 287.874503 deg.

2021-08-15T00:01:56.121Z,1628985716.121 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T00:01:56.137Z,1628985716.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:01:56.505Z,1628985716.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:01:56.505Z,1628985716.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:01:56.505Z,1628985716.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:01:56.506Z,1628985716.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:01:56.921Z,1628985716.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,00F4B,186,80,80,AB,FF
2021-08-15T00:01:56.921Z,1628985716.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:01:56.921Z,1628985716.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:01:56.923Z,1628985716.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:01:57.325Z,1628985717.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:01:58.129Z,1628985718.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,00F10,187,80,80,A4,FF
2021-08-15T00:01:58.129Z,1628985718.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:01:58.133Z,1628985718.133 [Micromodem](INFO): Nmea in: $SNTTA,0.389355,0.389480,,,000158.12*5E

2021-08-15T00:01:58.578Z,1628985718.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.859985 m, bearing: 305.748282 deg, deltaT: 4.850844 s, approachRate: -0.729772 m/s, LOS rate: 0.183603 deg/s, posRepo size: 4
2021-08-15T00:01:58.585Z,1628985718.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.859985 m,
      bearing: 305.748282 deg,
      approachRate: -0.729772 m/s,
      LOS rate: 0.183603 deg/s,
      cmd update: 0.734412 deg/s,
      cmd heading: 285.938434 deg,
      new cmd heading: 285.783801 deg.

2021-08-15T00:02:00.967Z,1628985720.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:02:01.353Z,1628985721.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:02:01.354Z,1628985721.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:02:01.354Z,1628985721.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:02:01.355Z,1628985721.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:02:01.757Z,1628985721.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,00F10,187,80,80,A4,FF
2021-08-15T00:02:01.757Z,1628985721.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:02:01.757Z,1628985721.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:02:01.759Z,1628985721.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:02:02.182Z,1628985722.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:02:02.704Z,1628985722.704 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC0,000,00ED4,187,80,80,AE,FF
2021-08-15T00:02:02.705Z,1628985722.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:02:03.045Z,1628985723.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000202.95*52

2021-08-15T00:02:03.076Z,1628985723.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.259995 m, bearing: 306.703907 deg, deltaT: 4.520458 s, approachRate: -0.796377 m/s, LOS rate: 0.211400 deg/s, posRepo size: 4
2021-08-15T00:02:03.078Z,1628985723.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.259995 m,
      bearing: 306.703907 deg,
      approachRate: -0.796377 m/s,
      LOS rate: 0.211400 deg/s,
      cmd update: 0.845601 deg/s,
      cmd heading: 289.269918 deg,
      new cmd heading: 289.519318 deg.

2021-08-15T00:02:05.450Z,1628985725.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:02:05.809Z,1628985725.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:02:05.809Z,1628985725.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:02:05.809Z,1628985725.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:02:05.810Z,1628985725.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:02:06.217Z,1628985726.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC0,000,00ED4,187,80,80,AE,FF
2021-08-15T00:02:06.217Z,1628985726.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:02:06.217Z,1628985726.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:02:06.219Z,1628985726.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:02:06.610Z,1628985726.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:02:07.457Z,1628985727.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,00E9E,186,80,80,9A,FF
2021-08-15T00:02:07.458Z,1628985727.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:02:07.461Z,1628985727.461 [Micromodem](INFO): Nmea in: $SNTTA,0.131683,,,,000207.42*4D

2021-08-15T00:02:07.909Z,1628985727.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.020004 m, bearing: 307.482166 deg, deltaT: 4.759911 s, approachRate: -0.680683 m/s, LOS rate: 0.163503 deg/s, posRepo size: 4
2021-08-15T00:02:07.936Z,1628985727.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.020004 m,
      bearing: 307.482166 deg,
      approachRate: -0.680683 m/s,
      LOS rate: 0.163503 deg/s,
      cmd update: 0.654011 deg/s,
      cmd heading: 293.295044 deg,
      new cmd heading: 293.636595 deg.

2021-08-15T00:02:10.313Z,1628985730.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:02:10.649Z,1628985730.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:02:10.649Z,1628985730.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:02:10.649Z,1628985730.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:02:10.650Z,1628985730.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:02:11.061Z,1628985731.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,00E9E,186,80,80,9A,FF
2021-08-15T00:02:11.061Z,1628985731.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:02:11.061Z,1628985731.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:02:11.063Z,1628985731.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:02:11.469Z,1628985731.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:02:11.882Z,1628985731.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,00E9E,186,80,80,9A,FF
2021-08-15T00:02:11.885Z,1628985731.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:02:11.899Z,1628985731.899 [Micromodem](INFO): Nmea in: $SNTTA,0.319519,0.319525,,,000212.26*54

2021-08-15T00:02:12.327Z,1628985732.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.020004 m, bearing: 306.714644 deg, deltaT: 4.474786 s, approachRate: 0.000000 m/s, LOS rate: -0.171521 deg/s, posRepo size: 4
2021-08-15T00:02:12.330Z,1628985732.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.020004 m,
      bearing: 306.714644 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.171521 deg/s,
      cmd update: -0.686086 deg/s,
      cmd heading: 296.218828 deg,
      new cmd heading: 296.457068 deg.

2021-08-15T00:02:14.734Z,1628985734.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:02:15.097Z,1628985735.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:02:15.097Z,1628985735.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:02:15.097Z,1628985735.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:02:15.098Z,1628985735.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:02:15.565Z,1628985735.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,00E9E,186,80,80,9A,FF
2021-08-15T00:02:15.565Z,1628985735.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:02:15.565Z,1628985735.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:02:15.567Z,1628985735.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:02:16.049Z,1628985736.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:02:16.759Z,1628985736.759 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,00E2C,186,80,80,A1,FF
2021-08-15T00:02:16.761Z,1628985736.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:02:16.767Z,1628985736.767 [Micromodem](INFO): Nmea in: $SNTTA,0.106833,,,,000216.76*4B

2021-08-15T00:02:17.160Z,1628985737.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.179993 m, bearing: 307.516973 deg, deltaT: 4.861289 s, approachRate: -1.407037 m/s, LOS rate: 0.165044 deg/s, posRepo size: 4
2021-08-15T00:02:17.162Z,1628985737.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.179993 m,
      bearing: 307.516973 deg,
      approachRate: -1.407037 m/s,
      LOS rate: 0.165044 deg/s,
      cmd update: 0.660178 deg/s,
      cmd heading: 292.899837 deg,
      new cmd heading: 292.653353 deg.

2021-08-15T00:02:19.565Z,1628985739.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:02:19.982Z,1628985739.982 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:02:19.983Z,1628985739.983 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:02:19.983Z,1628985739.983 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:02:19.984Z,1628985739.984 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:02:20.349Z,1628985740.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,00E2C,186,80,80,A1,FF
2021-08-15T00:02:20.349Z,1628985740.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:02:20.349Z,1628985740.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:02:20.351Z,1628985740.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:02:20.760Z,1628985740.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:02:21.156Z,1628985741.156 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,00E2C,186,80,80,A1,FF
2021-08-15T00:02:21.157Z,1628985741.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:02:21.597Z,1628985741.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000221.55*5F

2021-08-15T00:02:21.634Z,1628985741.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.179993 m, bearing: 307.766794 deg, deltaT: 4.351325 s, approachRate: 0.000000 m/s, LOS rate: 0.057413 deg/s, posRepo size: 4
2021-08-15T00:02:21.637Z,1628985741.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.179993 m,
      bearing: 307.766794 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.057413 deg/s,
      cmd update: 0.229651 deg/s,
      cmd heading: 295.789984 deg,
      new cmd heading: 296.091165 deg.

2021-08-15T00:02:24.046Z,1628985744.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:02:24.400Z,1628985744.400 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:02:24.401Z,1628985744.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:02:24.402Z,1628985744.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:02:24.403Z,1628985744.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:02:24.809Z,1628985744.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,00E2C,186,80,80,A1,FF
2021-08-15T00:02:24.809Z,1628985744.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:02:24.809Z,1628985744.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:02:24.811Z,1628985744.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:02:25.197Z,1628985745.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:02:25.610Z,1628985745.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,00E2C,186,80,80,A1,FF
2021-08-15T00:02:25.610Z,1628985745.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:02:26.093Z,1628985746.093 [Micromodem](INFO): Nmea in: $SNTTA,0.484895,0.445014,,,000226.00*54

2021-08-15T00:02:26.141Z,1628985746.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.179993 m, bearing: 307.681745 deg, deltaT: 4.497349 s, approachRate: 0.000000 m/s, LOS rate: -0.018911 deg/s, posRepo size: 4
2021-08-15T00:02:26.143Z,1628985746.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.179993 m,
      bearing: 307.681745 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.018911 deg/s,
      cmd update: -0.075644 deg/s,
      cmd heading: 296.821253 deg,
      new cmd heading: 296.929676 deg.

2021-08-15T00:02:28.495Z,1628985748.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:02:28.847Z,1628985748.847 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:02:28.848Z,1628985748.848 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:02:28.848Z,1628985748.848 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:02:28.849Z,1628985748.849 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:02:29.313Z,1628985749.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,00E2C,186,80,80,A1,FF
2021-08-15T00:02:29.313Z,1628985749.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:02:29.313Z,1628985749.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:02:29.315Z,1628985749.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:02:29.760Z,1628985749.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:02:30.503Z,1628985750.503 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD7,000,00D89,185,80,80,5D,FF
2021-08-15T00:02:30.504Z,1628985750.504 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:02:30.511Z,1628985750.511 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000230.51*5B

2021-08-15T00:02:30.912Z,1628985750.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.400009 m, bearing: 302.735185 deg, deltaT: 4.905021 s, approachRate: -1.993872 m/s, LOS rate: -1.008469 deg/s, posRepo size: 4
2021-08-15T00:02:30.914Z,1628985750.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.400009 m,
      bearing: 302.735185 deg,
      approachRate: -1.993872 m/s,
      LOS rate: -1.008469 deg/s,
      cmd update: -4.033874 deg/s,
      cmd heading: 296.449896 deg,
      new cmd heading: 296.424655 deg.

2021-08-15T00:02:33.319Z,1628985753.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:02:33.689Z,1628985753.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:02:33.689Z,1628985753.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:02:33.690Z,1628985753.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:02:33.691Z,1628985753.691 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:02:34.089Z,1628985754.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD7,000,00D89,185,80,80,5D,FF
2021-08-15T00:02:34.089Z,1628985754.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:02:34.089Z,1628985754.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:02:34.091Z,1628985754.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:02:34.491Z,1628985754.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:02:34.888Z,1628985754.888 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,00D89,185,80,80,5D,FF
2021-08-15T00:02:34.888Z,1628985754.888 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:02:35.335Z,1628985755.335 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000235.29*51

2021-08-15T00:02:35.375Z,1628985755.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.400009 m, bearing: 307.727671 deg, deltaT: 4.329328 s, approachRate: 0.000000 m/s, LOS rate: 1.153178 deg/s, posRepo size: 4
2021-08-15T00:02:35.378Z,1628985755.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.400009 m,
      bearing: 307.727671 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.153178 deg/s,
      cmd update: 4.612712 deg/s,
      cmd heading: 278.978783 deg,
      new cmd heading: 277.097699 deg.

2021-08-15T00:02:37.778Z,1628985757.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:02:38.121Z,1628985758.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:02:38.121Z,1628985758.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:02:38.121Z,1628985758.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:02:38.122Z,1628985758.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:02:38.531Z,1628985758.531 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,00D89,185,80,80,5D,FF
2021-08-15T00:02:38.531Z,1628985758.531 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:02:38.531Z,1628985758.531 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:02:38.533Z,1628985758.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:02:38.945Z,1628985758.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:02:39.334Z,1628985759.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,00D89,185,80,80,5D,FF
2021-08-15T00:02:39.334Z,1628985759.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:02:39.774Z,1628985759.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000239.73*52

2021-08-15T00:02:39.799Z,1628985759.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.400009 m, bearing: 311.582657 deg, deltaT: 4.518087 s, approachRate: 0.000000 m/s, LOS rate: 0.853234 deg/s, posRepo size: 4
2021-08-15T00:02:39.802Z,1628985759.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.400009 m,
      bearing: 311.582657 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.853234 deg/s,
      cmd update: 3.412937 deg/s,
      cmd heading: 299.790015 deg,
      new cmd heading: 301.536351 deg.

2021-08-15T00:02:42.219Z,1628985762.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:02:42.637Z,1628985762.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:02:42.637Z,1628985762.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:02:42.638Z,1628985762.638 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:02:42.638Z,1628985762.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:02:43.045Z,1628985763.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFA,000,00D89,185,80,80,5D,FF
2021-08-15T00:02:43.046Z,1628985763.046 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:02:43.047Z,1628985763.047 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:02:43.050Z,1628985763.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:02:43.427Z,1628985763.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:02:44.219Z,1628985764.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,00CD7,187,80,80,82,FF
2021-08-15T00:02:44.222Z,1628985764.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:02:44.229Z,1628985764.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000244.24*5A

2021-08-15T00:02:44.638Z,1628985764.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.719986 m, bearing: 307.875094 deg, deltaT: 4.890951 s, approachRate: -2.183629 m/s, LOS rate: -0.758046 deg/s, posRepo size: 4
2021-08-15T00:02:44.646Z,1628985764.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.719986 m,
      bearing: 307.875094 deg,
      approachRate: -2.183629 m/s,
      LOS rate: -0.758046 deg/s,
      cmd update: -3.032182 deg/s,
      cmd heading: 316.511200 deg,
      new cmd heading: 317.595709 deg.

2021-08-15T00:02:47.031Z,1628985767.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:02:47.429Z,1628985767.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:02:47.430Z,1628985767.430 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:02:47.430Z,1628985767.430 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:02:47.431Z,1628985767.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:02:47.826Z,1628985767.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,00CD7,187,80,80,82,FF
2021-08-15T00:02:47.826Z,1628985767.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:02:47.826Z,1628985767.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:02:47.828Z,1628985767.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:02:48.224Z,1628985768.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:02:48.626Z,1628985768.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,00C9E,187,80,80,82,FF
2021-08-15T00:02:48.626Z,1628985768.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:02:49.066Z,1628985769.066 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000249.03*52

2021-08-15T00:02:49.088Z,1628985769.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.300003 m, bearing: 305.205637 deg, deltaT: 4.367246 s, approachRate: -0.783098 m/s, LOS rate: -0.611245 deg/s, posRepo size: 4
2021-08-15T00:02:49.091Z,1628985769.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.300003 m,
      bearing: 305.205637 deg,
      approachRate: -0.783098 m/s,
      LOS rate: -0.611245 deg/s,
      cmd update: -2.444979 deg/s,
      cmd heading: 303.268991 deg,
      new cmd heading: 302.055676 deg.

2021-08-15T00:02:51.499Z,1628985771.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:02:51.861Z,1628985771.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:02:51.861Z,1628985771.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:02:51.861Z,1628985771.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:02:51.862Z,1628985771.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:02:52.271Z,1628985772.271 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,00C9E,187,80,80,82,FF
2021-08-15T00:02:52.271Z,1628985772.271 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:02:52.271Z,1628985772.271 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:02:52.274Z,1628985772.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:02:52.669Z,1628985772.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:02:53.498Z,1628985773.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000253.47*59

2021-08-15T00:02:54.314Z,1628985774.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:02:56.025Z,1628985776.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,82,FF
2021-08-15T00:02:56.025Z,1628985776.025 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,82,FF
2021-08-15T00:02:56.025Z,1628985776.025 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:02:57.170Z,1628985777.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:02:57.525Z,1628985777.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:02:57.525Z,1628985777.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:02:57.525Z,1628985777.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:02:57.526Z,1628985777.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:02:57.977Z,1628985777.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,82,FF
2021-08-15T00:02:57.977Z,1628985777.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:02:57.978Z,1628985777.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:02:58.007Z,1628985778.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:02:58.324Z,1628985778.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:02:59.129Z,1628985779.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,00C25,186,80,80,A7,FF
2021-08-15T00:02:59.129Z,1628985779.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:02:59.545Z,1628985779.545 [Micromodem](INFO): Nmea in: $SNTTA,0.099100,,,,000259.20*4D

2021-08-15T00:02:59.571Z,1628985779.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.040009 m, bearing: 307.100195 deg, deltaT: 10.531073 s, approachRate: -0.689388 m/s, LOS rate: 0.179902 deg/s, posRepo size: 4
2021-08-15T00:02:59.574Z,1628985779.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.040009 m,
      bearing: 307.100195 deg,
      approachRate: -0.689388 m/s,
      LOS rate: 0.179902 deg/s,
      cmd update: 0.719607 deg/s,
      cmd heading: 277.696473 deg,
      new cmd heading: 276.658112 deg.

2021-08-15T00:03:02.045Z,1628985782.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:03:02.364Z,1628985782.364 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:03:02.365Z,1628985782.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:03:02.365Z,1628985782.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:03:02.366Z,1628985782.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:03:02.769Z,1628985782.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,00C25,186,80,80,A7,FF
2021-08-15T00:03:02.769Z,1628985782.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:03:02.770Z,1628985782.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:03:02.771Z,1628985782.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:03:03.173Z,1628985783.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:03:03.582Z,1628985783.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA1,000,00BF0,189,80,80,B6,FF
2021-08-15T00:03:03.582Z,1628985783.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:03:04.017Z,1628985784.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000303.97*50

2021-08-15T00:03:04.070Z,1628985784.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.860001 m, bearing: 311.414634 deg, deltaT: 4.418902 s, approachRate: -0.719638 m/s, LOS rate: 0.976360 deg/s, posRepo size: 4
2021-08-15T00:03:04.071Z,1628985784.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.860001 m,
      bearing: 311.414634 deg,
      approachRate: -0.719638 m/s,
      LOS rate: 0.976360 deg/s,
      cmd update: 3.905440 deg/s,
      cmd heading: 280.907689 deg,
      new cmd heading: 281.239041 deg.

2021-08-15T00:03:06.459Z,1628985786.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:03:06.813Z,1628985786.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:03:06.814Z,1628985786.814 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:03:06.814Z,1628985786.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:03:06.815Z,1628985786.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:03:07.209Z,1628985787.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA1,000,00BF0,189,80,80,B6,FF
2021-08-15T00:03:07.209Z,1628985787.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:03:07.209Z,1628985787.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:03:07.211Z,1628985787.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:03:07.624Z,1628985787.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:03:08.021Z,1628985788.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,00BBC,187,80,80,8A,FF
2021-08-15T00:03:08.022Z,1628985788.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:03:08.029Z,1628985788.029 [Micromodem](INFO): Nmea in: $SNTTA,0.097245,0.244723,,,000308.41*59

2021-08-15T00:03:08.495Z,1628985788.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.740005 m, bearing: 310.873765 deg, deltaT: 4.470421 s, approachRate: -0.697920 m/s, LOS rate: -0.120988 deg/s, posRepo size: 4
2021-08-15T00:03:08.497Z,1628985788.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.740005 m,
      bearing: 310.873765 deg,
      approachRate: -0.697920 m/s,
      LOS rate: -0.120988 deg/s,
      cmd update: -0.483954 deg/s,
      cmd heading: 298.461869 deg,
      new cmd heading: 299.988092 deg.

2021-08-15T00:03:10.890Z,1628985790.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:03:11.249Z,1628985791.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:03:11.250Z,1628985791.250 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:03:11.250Z,1628985791.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:03:11.251Z,1628985791.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:03:11.657Z,1628985791.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E20,000,00BBC,187,80,80,8A,FF
2021-08-15T00:03:11.657Z,1628985791.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:03:11.657Z,1628985791.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:03:11.659Z,1628985791.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:03:12.080Z,1628985792.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:03:12.469Z,1628985792.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,00B88,186,80,80,A7,FF
2021-08-15T00:03:12.470Z,1628985792.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:03:12.910Z,1628985792.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.619995 m, bearing: 308.074972 deg, deltaT: 4.412847 s, approachRate: -0.707029 m/s, LOS rate: -0.634237 deg/s, posRepo size: 4
2021-08-15T00:03:12.912Z,1628985792.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.619995 m,
      bearing: 308.074972 deg,
      approachRate: -0.707029 m/s,
      LOS rate: -0.634237 deg/s,
      cmd update: -2.536950 deg/s,
      cmd heading: 296.324527 deg,
      new cmd heading: 296.135966 deg.

2021-08-15T00:03:15.322Z,1628985795.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:03:15.701Z,1628985795.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:03:15.701Z,1628985795.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:03:15.701Z,1628985795.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:03:15.702Z,1628985795.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:03:16.105Z,1628985796.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,00B88,186,80,80,A7,FF
2021-08-15T00:03:16.105Z,1628985796.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:03:16.105Z,1628985796.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:03:16.107Z,1628985796.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:03:16.505Z,1628985796.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:03:16.918Z,1628985796.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,00B52,187,80,80,A9,FF
2021-08-15T00:03:16.919Z,1628985796.919 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:03:17.353Z,1628985797.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000317.30*58

2021-08-15T00:03:17.433Z,1628985797.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.380005 m, bearing: 308.475904 deg, deltaT: 4.414335 s, approachRate: -0.733970 m/s, LOS rate: 0.090825 deg/s, posRepo size: 4
2021-08-15T00:03:17.435Z,1628985797.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.380005 m,
      bearing: 308.475904 deg,
      approachRate: -0.733970 m/s,
      LOS rate: 0.090825 deg/s,
      cmd update: 0.363300 deg/s,
      cmd heading: 285.124020 deg,
      new cmd heading: 283.873329 deg.

2021-08-15T00:03:19.770Z,1628985799.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:03:20.141Z,1628985800.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:03:20.141Z,1628985800.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:03:20.141Z,1628985800.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:03:20.142Z,1628985800.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:03:20.541Z,1628985800.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,00B52,187,80,80,A9,FF
2021-08-15T00:03:20.541Z,1628985800.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:03:20.541Z,1628985800.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:03:20.543Z,1628985800.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:03:20.953Z,1628985800.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:03:21.365Z,1628985801.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,00B1C,186,80,80,B2,FF
2021-08-15T00:03:21.366Z,1628985801.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:03:21.802Z,1628985801.802 [Micromodem](INFO): Nmea in: $SNTTA,0.091258,,,,000321.74*44

2021-08-15T00:03:21.828Z,1628985801.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.139999 m, bearing: 309.220504 deg, deltaT: 4.505911 s, approachRate: -0.719057 m/s, LOS rate: 0.165250 deg/s, posRepo size: 4
2021-08-15T00:03:21.830Z,1628985801.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.139999 m,
      bearing: 309.220504 deg,
      approachRate: -0.719057 m/s,
      LOS rate: 0.165250 deg/s,
      cmd update: 0.660998 deg/s,
      cmd heading: 286.757928 deg,
      new cmd heading: 286.901610 deg.

2021-08-15T00:03:24.272Z,1628985804.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:03:24.589Z,1628985804.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:03:24.589Z,1628985804.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:03:24.589Z,1628985804.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:03:24.590Z,1628985804.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:03:24.999Z,1628985804.999 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,00B1C,186,80,80,B2,FF
2021-08-15T00:03:24.999Z,1628985804.999 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:03:24.999Z,1628985804.999 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:03:25.001Z,1628985805.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:03:25.421Z,1628985805.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:03:25.805Z,1628985805.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,00AE7,186,80,80,92,FF
2021-08-15T00:03:25.805Z,1628985805.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:03:26.234Z,1628985806.234 [Micromodem](INFO): Nmea in: $SNTTA,0.086386,,,,000326.20*46

2021-08-15T00:03:26.259Z,1628985806.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.960007 m, bearing: 310.446687 deg, deltaT: 4.500769 s, approachRate: -0.706544 m/s, LOS rate: 0.272439 deg/s, posRepo size: 4
2021-08-15T00:03:26.262Z,1628985806.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.960007 m,
      bearing: 310.446687 deg,
      approachRate: -0.706544 m/s,
      LOS rate: 0.272439 deg/s,
      cmd update: 1.089754 deg/s,
      cmd heading: 289.735743 deg,
      new cmd heading: 289.947310 deg.

2021-08-15T00:03:28.661Z,1628985808.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:03:29.033Z,1628985809.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:03:29.033Z,1628985809.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:03:29.033Z,1628985809.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:03:29.034Z,1628985809.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:03:29.469Z,1628985809.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,00AE7,186,80,80,92,FF
2021-08-15T00:03:29.469Z,1628985809.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:03:29.469Z,1628985809.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:03:29.471Z,1628985809.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:03:29.859Z,1628985809.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:03:30.265Z,1628985810.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB6,000,00AB6,187,80,80,AC,FF
2021-08-15T00:03:30.265Z,1628985810.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:03:30.681Z,1628985810.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000330.67*5F

2021-08-15T00:03:30.707Z,1628985810.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.019997 m, bearing: 309.704929 deg, deltaT: 4.380142 s, approachRate: -0.671213 m/s, LOS rate: -0.169346 deg/s, posRepo size: 4
2021-08-15T00:03:30.709Z,1628985810.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.019997 m,
      bearing: 309.704929 deg,
      approachRate: -0.671213 m/s,
      LOS rate: -0.169346 deg/s,
      cmd update: -0.677383 deg/s,
      cmd heading: 294.509027 deg,
      new cmd heading: 294.933243 deg.

2021-08-15T00:03:33.087Z,1628985813.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:03:33.469Z,1628985813.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:03:33.469Z,1628985813.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:03:33.469Z,1628985813.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:03:33.470Z,1628985813.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:03:33.876Z,1628985813.876 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB6,000,00AB6,187,80,80,AC,FF
2021-08-15T00:03:33.877Z,1628985813.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:03:33.877Z,1628985813.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:03:33.884Z,1628985813.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:03:34.301Z,1628985814.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:03:34.689Z,1628985814.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,00A7F,187,80,80,AD,FF
2021-08-15T00:03:34.690Z,1628985814.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:03:35.137Z,1628985815.137 [Micromodem](INFO): Nmea in: $SNTTA,0.082239,,,,000335.08*4F

2021-08-15T00:03:35.160Z,1628985815.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.720001 m, bearing: 310.596186 deg, deltaT: 4.418281 s, approachRate: -0.746896 m/s, LOS rate: 0.201720 deg/s, posRepo size: 4
2021-08-15T00:03:35.162Z,1628985815.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.720001 m,
      bearing: 310.596186 deg,
      approachRate: -0.746896 m/s,
      LOS rate: 0.201720 deg/s,
      cmd update: 0.806882 deg/s,
      cmd heading: 291.513420 deg,
      new cmd heading: 291.229282 deg.

2021-08-15T00:03:36.278Z,1628985816.278 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-15T00:03:36.298Z,1628985816.298 [BPC1](INFO): Received data from all battery sticks.
2021-08-15T00:03:37.556Z,1628985817.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:03:37.952Z,1628985817.952 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:03:37.953Z,1628985817.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:03:37.953Z,1628985817.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:03:37.954Z,1628985817.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:03:38.322Z,1628985818.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,00A7F,187,80,80,AD,FF
2021-08-15T00:03:38.322Z,1628985818.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:03:38.322Z,1628985818.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:03:38.324Z,1628985818.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:03:38.741Z,1628985818.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:03:39.129Z,1628985819.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,00A4B,186,80,80,A8,FF
2021-08-15T00:03:39.129Z,1628985819.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:03:39.578Z,1628985819.578 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000339.52*50

2021-08-15T00:03:39.604Z,1628985819.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.600006 m, bearing: 310.825790 deg, deltaT: 4.405686 s, approachRate: -0.708175 m/s, LOS rate: 0.052115 deg/s, posRepo size: 4
2021-08-15T00:03:39.606Z,1628985819.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.600006 m,
      bearing: 310.825790 deg,
      approachRate: -0.708175 m/s,
      LOS rate: 0.052115 deg/s,
      cmd update: 0.208461 deg/s,
      cmd heading: 295.068447 deg,
      new cmd heading: 295.438039 deg.

2021-08-15T00:03:42.026Z,1628985822.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:03:42.365Z,1628985822.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:03:42.365Z,1628985822.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:03:42.365Z,1628985822.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:03:42.366Z,1628985822.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:03:42.773Z,1628985822.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,00A4B,186,80,80,A8,FF
2021-08-15T00:03:42.773Z,1628985822.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:03:42.773Z,1628985822.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:03:42.775Z,1628985822.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:03:43.170Z,1628985823.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:03:43.577Z,1628985823.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,00A15,187,80,80,B6,FF
2021-08-15T00:03:43.578Z,1628985823.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:03:44.013Z,1628985824.013 [Micromodem](INFO): Nmea in: $SNTTA,0.087074,,,,000343.97*46

2021-08-15T00:03:44.068Z,1628985824.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.360001 m, bearing: 311.844144 deg, deltaT: 4.513596 s, approachRate: -0.717832 m/s, LOS rate: 0.225619 deg/s, posRepo size: 4
2021-08-15T00:03:44.070Z,1628985824.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.360001 m,
      bearing: 311.844144 deg,
      approachRate: -0.717832 m/s,
      LOS rate: 0.225619 deg/s,
      cmd update: 0.902477 deg/s,
      cmd heading: 296.009216 deg,
      new cmd heading: 296.094473 deg.

2021-08-15T00:03:46.450Z,1628985826.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:03:46.809Z,1628985826.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:03:46.809Z,1628985826.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:03:46.809Z,1628985826.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:03:46.810Z,1628985826.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:03:47.211Z,1628985827.211 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,00A15,187,80,80,B6,FF
2021-08-15T00:03:47.211Z,1628985827.211 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:03:47.211Z,1628985827.211 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:03:47.213Z,1628985827.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:03:47.621Z,1628985827.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:03:48.021Z,1628985828.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,009DF,186,80,80,A9,FF
2021-08-15T00:03:48.021Z,1628985828.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:03:48.470Z,1628985828.470 [Micromodem](INFO): Nmea in: $SNTTA,0.080186,,,,000348.41*4D

2021-08-15T00:03:48.496Z,1628985828.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.120003 m, bearing: 312.263545 deg, deltaT: 4.421541 s, approachRate: -0.732776 m/s, LOS rate: 0.094854 deg/s, posRepo size: 4
2021-08-15T00:03:48.498Z,1628985828.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.120003 m,
      bearing: 312.263545 deg,
      approachRate: -0.732776 m/s,
      LOS rate: 0.094854 deg/s,
      cmd update: 0.379416 deg/s,
      cmd heading: 299.999948 deg,
      new cmd heading: 300.374592 deg.

2021-08-15T00:03:50.889Z,1628985830.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:03:51.242Z,1628985831.242 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:03:51.242Z,1628985831.242 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:03:51.242Z,1628985831.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:03:51.242Z,1628985831.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:03:51.658Z,1628985831.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,009DF,186,80,80,A9,FF
2021-08-15T00:03:51.658Z,1628985831.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:03:51.658Z,1628985831.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:03:51.662Z,1628985831.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:03:52.062Z,1628985832.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:03:52.479Z,1628985832.479 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,009AC,186,80,80,B7,FF
2021-08-15T00:03:52.479Z,1628985832.479 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:03:52.898Z,1628985832.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.060005 m, bearing: 312.693847 deg, deltaT: 4.425179 s, approachRate: -0.691497 m/s, LOS rate: 0.097239 deg/s, posRepo size: 4
2021-08-15T00:03:52.900Z,1628985832.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.060005 m,
      bearing: 312.693847 deg,
      approachRate: -0.691497 m/s,
      LOS rate: 0.097239 deg/s,
      cmd update: 0.388958 deg/s,
      cmd heading: 301.679023 deg,
      new cmd heading: 301.827476 deg.

2021-08-15T00:03:55.318Z,1628985835.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:03:55.701Z,1628985835.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:03:55.702Z,1628985835.702 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:03:55.702Z,1628985835.702 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:03:55.703Z,1628985835.703 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:03:56.093Z,1628985836.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,009AC,186,80,80,B7,FF
2021-08-15T00:03:56.093Z,1628985836.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:03:56.093Z,1628985836.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:03:56.095Z,1628985836.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:03:56.511Z,1628985836.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:03:56.906Z,1628985836.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,00977,187,80,80,B3,FF
2021-08-15T00:03:56.906Z,1628985836.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:03:57.366Z,1628985837.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000357.29*54

2021-08-15T00:03:57.434Z,1628985837.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.879997 m, bearing: 313.484591 deg, deltaT: 4.417120 s, approachRate: -0.719928 m/s, LOS rate: 0.179018 deg/s, posRepo size: 4
2021-08-15T00:03:57.443Z,1628985837.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.879997 m,
      bearing: 313.484591 deg,
      approachRate: -0.719928 m/s,
      LOS rate: 0.179018 deg/s,
      cmd update: 0.716073 deg/s,
      cmd heading: 303.397031 deg,
      new cmd heading: 303.595810 deg.

2021-08-15T00:03:59.793Z,1628985839.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:04:00.133Z,1628985840.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:04:00.133Z,1628985840.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:04:00.133Z,1628985840.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:04:00.134Z,1628985840.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:04:00.539Z,1628985840.539 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,00977,187,80,80,B3,FF
2021-08-15T00:04:00.539Z,1628985840.539 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:04:00.540Z,1628985840.540 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:04:00.543Z,1628985840.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:04:00.945Z,1628985840.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:04:01.345Z,1628985841.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,0093D,186,80,80,C2,FF
2021-08-15T00:04:01.346Z,1628985841.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:04:01.789Z,1628985841.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000401.74*58

2021-08-15T00:04:01.827Z,1628985841.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.400002 m, bearing: 313.818260 deg, deltaT: 4.496170 s, approachRate: -0.773991 m/s, LOS rate: 0.074212 deg/s, posRepo size: 4
2021-08-15T00:04:01.829Z,1628985841.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.400002 m,
      bearing: 313.818260 deg,
      approachRate: -0.773991 m/s,
      LOS rate: 0.074212 deg/s,
      cmd update: 0.296847 deg/s,
      cmd heading: 306.613685 deg,
      new cmd heading: 306.908116 deg.

2021-08-15T00:04:04.275Z,1628985844.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:04:04.577Z,1628985844.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:04:04.577Z,1628985844.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:04:04.577Z,1628985844.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:04:04.578Z,1628985844.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:04:04.994Z,1628985844.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,0093D,186,80,80,C2,FF
2021-08-15T00:04:04.994Z,1628985844.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:04:04.994Z,1628985844.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:04:04.996Z,1628985844.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:04:05.422Z,1628985845.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:04:05.847Z,1628985845.847 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,0090B,184,80,80,BC,FF
2021-08-15T00:04:05.847Z,1628985845.847 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:04:06.251Z,1628985846.251 [Micromodem](INFO): Nmea in: $SNTTA,0.075506,,,,000406.19*4B

2021-08-15T00:04:06.312Z,1628985846.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.400009 m, bearing: 313.617097 deg, deltaT: 4.562035 s, approachRate: -0.657600 m/s, LOS rate: -0.044095 deg/s, posRepo size: 4
2021-08-15T00:04:06.314Z,1628985846.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.400009 m,
      bearing: 313.617097 deg,
      approachRate: -0.657600 m/s,
      LOS rate: -0.044095 deg/s,
      cmd update: -0.176380 deg/s,
      cmd heading: 307.963146 deg,
      new cmd heading: 308.067104 deg.

2021-08-15T00:04:08.655Z,1628985848.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:04:09.021Z,1628985849.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:04:09.021Z,1628985849.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:04:09.021Z,1628985849.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:04:09.022Z,1628985849.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:04:09.457Z,1628985849.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,0090B,184,80,80,BC,FF
2021-08-15T00:04:09.457Z,1628985849.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:04:09.457Z,1628985849.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:04:09.459Z,1628985849.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:04:09.838Z,1628985849.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:04:10.251Z,1628985850.251 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,008D2,185,80,80,A3,FF
2021-08-15T00:04:10.251Z,1628985850.251 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:04:10.655Z,1628985850.655 [Micromodem](INFO): Nmea in: $SNTTA,0.098945,,,,000410.66*4C

2021-08-15T00:04:10.698Z,1628985850.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.980003 m, bearing: 313.468691 deg, deltaT: 4.376739 s, approachRate: -0.781405 m/s, LOS rate: -0.033908 deg/s, posRepo size: 4
2021-08-15T00:04:10.700Z,1628985850.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.980003 m,
      bearing: 313.468691 deg,
      approachRate: -0.781405 m/s,
      LOS rate: -0.033908 deg/s,
      cmd update: -0.135632 deg/s,
      cmd heading: 307.189406 deg,
      new cmd heading: 307.127675 deg.

2021-08-15T00:04:13.090Z,1628985853.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:04:13.465Z,1628985853.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:04:13.465Z,1628985853.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:04:13.465Z,1628985853.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:04:13.466Z,1628985853.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:04:13.873Z,1628985853.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,008D2,185,80,80,A3,FF
2021-08-15T00:04:13.873Z,1628985853.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:04:13.874Z,1628985853.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:04:13.880Z,1628985853.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:04:14.301Z,1628985854.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:04:14.677Z,1628985854.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,008A0,184,80,80,A4,FF
2021-08-15T00:04:14.677Z,1628985854.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:04:15.137Z,1628985855.137 [Micromodem](INFO): Nmea in: $SNTTA,0.063053,,,,000415.08*4B

2021-08-15T00:04:15.201Z,1628985855.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.980003 m, bearing: 315.285193 deg, deltaT: 4.387662 s, approachRate: -0.683735 m/s, LOS rate: 0.414002 deg/s, posRepo size: 4
2021-08-15T00:04:15.209Z,1628985855.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.980003 m,
      bearing: 315.285193 deg,
      approachRate: -0.683735 m/s,
      LOS rate: 0.414002 deg/s,
      cmd update: 1.656009 deg/s,
      cmd heading: 306.594188 deg,
      new cmd heading: 306.532033 deg.

2021-08-15T00:04:17.543Z,1628985857.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:04:17.944Z,1628985857.944 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:04:17.944Z,1628985857.944 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:04:17.945Z,1628985857.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:04:17.946Z,1628985857.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:04:18.317Z,1628985858.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,008A0,184,80,80,A4,FF
2021-08-15T00:04:18.317Z,1628985858.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:04:18.318Z,1628985858.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:04:18.319Z,1628985858.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:04:18.724Z,1628985858.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:04:19.133Z,1628985859.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD2,000,0086A,185,80,80,B5,FF
2021-08-15T00:04:19.134Z,1628985859.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:04:19.557Z,1628985859.557 [Micromodem](INFO): Nmea in: $SNTTA,0.082234,,,,000419.52*44

2021-08-15T00:04:19.607Z,1628985859.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.739998 m, bearing: 314.774841 deg, deltaT: 4.404124 s, approachRate: -0.735675 m/s, LOS rate: -0.115880 deg/s, posRepo size: 4
2021-08-15T00:04:19.614Z,1628985859.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.739998 m,
      bearing: 314.774841 deg,
      approachRate: -0.735675 m/s,
      LOS rate: -0.115880 deg/s,
      cmd update: -0.463522 deg/s,
      cmd heading: 313.903062 deg,
      new cmd heading: 314.659865 deg.

2021-08-15T00:04:22.030Z,1628985862.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:04:22.384Z,1628985862.384 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:04:22.384Z,1628985862.384 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:04:22.385Z,1628985862.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:04:22.386Z,1628985862.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:04:22.777Z,1628985862.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD2,000,0086A,185,80,80,B5,FF
2021-08-15T00:04:22.777Z,1628985862.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:04:22.777Z,1628985862.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:04:22.779Z,1628985862.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:04:23.184Z,1628985863.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:04:23.594Z,1628985863.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00833,184,80,80,A6,FF
2021-08-15T00:04:23.594Z,1628985863.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:04:24.029Z,1628985864.029 [Micromodem](INFO): Nmea in: $SNTTA,,0.460825,,,000423.98*49

2021-08-15T00:04:24.091Z,1628985864.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.439995 m, bearing: 315.190035 deg, deltaT: 4.471089 s, approachRate: -0.738076 m/s, LOS rate: 0.092862 deg/s, posRepo size: 4
2021-08-15T00:04:24.099Z,1628985864.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.439995 m,
      bearing: 315.190035 deg,
      approachRate: -0.738076 m/s,
      LOS rate: 0.092862 deg/s,
      cmd update: 0.371447 deg/s,
      cmd heading: 311.830702 deg,
      new cmd heading: 311.612866 deg.

2021-08-15T00:04:26.491Z,1628985866.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:04:26.817Z,1628985866.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:04:26.817Z,1628985866.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:04:26.817Z,1628985866.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:04:26.818Z,1628985866.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:04:27.229Z,1628985867.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,00833,184,80,80,A6,FF
2021-08-15T00:04:27.229Z,1628985867.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:04:27.229Z,1628985867.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:04:27.231Z,1628985867.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:04:27.637Z,1628985867.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:04:28.035Z,1628985868.035 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00801,183,80,80,A5,FF
2021-08-15T00:04:28.035Z,1628985868.035 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:04:28.486Z,1628985868.486 [Micromodem](INFO): Nmea in: $SNTTA,0.056663,,,,000428.43*49

2021-08-15T00:04:28.533Z,1628985868.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.440002 m, bearing: 316.325567 deg, deltaT: 4.470556 s, approachRate: -0.671056 m/s, LOS rate: 0.254003 deg/s, posRepo size: 4
2021-08-15T00:04:28.535Z,1628985868.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.440002 m,
      bearing: 316.325567 deg,
      approachRate: -0.671056 m/s,
      LOS rate: 0.254003 deg/s,
      cmd update: 1.016010 deg/s,
      cmd heading: 313.491272 deg,
      new cmd heading: 313.655179 deg.

2021-08-15T00:04:30.880Z,1628985870.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:04:31.276Z,1628985871.276 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:04:31.276Z,1628985871.276 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:04:31.276Z,1628985871.276 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:04:31.277Z,1628985871.277 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:04:31.669Z,1628985871.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00801,183,80,80,A5,FF
2021-08-15T00:04:31.669Z,1628985871.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:04:31.669Z,1628985871.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:04:31.671Z,1628985871.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:04:32.076Z,1628985872.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:04:32.477Z,1628985872.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,00681,186,80,80,4C,FF
2021-08-15T00:04:32.478Z,1628985872.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:04:32.918Z,1628985872.918 [Micromodem](INFO): Nmea in: $SNTTA,0.054517,,,,000432.87*48

2021-08-15T00:04:32.953Z,1628985872.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.400005 m, bearing: 313.674334 deg, deltaT: 4.412572 s, approachRate: -5.221444 m/s, LOS rate: -0.600836 deg/s, posRepo size: 4
2021-08-15T00:04:32.955Z,1628985872.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.400005 m,
      bearing: 313.674334 deg,
      approachRate: -5.221444 m/s,
      LOS rate: -0.600836 deg/s,
      cmd update: -2.403345 deg/s,
      cmd heading: 317.974603 deg,
      new cmd heading: 318.431020 deg.

2021-08-15T00:04:35.353Z,1628985875.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:04:35.713Z,1628985875.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:04:35.713Z,1628985875.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:04:35.713Z,1628985875.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:04:35.714Z,1628985875.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:04:36.114Z,1628985876.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,00681,186,80,80,4C,FF
2021-08-15T00:04:36.114Z,1628985876.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:04:36.114Z,1628985876.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:04:36.115Z,1628985876.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:04:36.524Z,1628985876.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:04:36.921Z,1628985876.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,00795,187,80,80,9C,FF
2021-08-15T00:04:36.922Z,1628985876.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:04:37.354Z,1628985877.354 [Micromodem](INFO): Nmea in: $SNTTA,0.071016,,,,000437.34*46

2021-08-15T00:04:37.431Z,1628985877.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.959999 m, bearing: 315.044115 deg, deltaT: 4.451398 s, approachRate: 3.720178 m/s, LOS rate: 0.307719 deg/s, posRepo size: 4
2021-08-15T00:04:37.438Z,1628985877.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.959999 m,
      bearing: 315.044115 deg,
      approachRate: 3.720178 m/s,
      LOS rate: 0.307719 deg/s,
      cmd update: 1.230877 deg/s,
      cmd heading: 307.285943 deg,
      new cmd heading: 306.133107 deg.

2021-08-15T00:04:39.783Z,1628985879.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:04:40.165Z,1628985880.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:04:40.165Z,1628985880.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:04:40.166Z,1628985880.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:04:40.166Z,1628985880.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:04:40.565Z,1628985880.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,00795,187,80,80,9C,FF
2021-08-15T00:04:40.565Z,1628985880.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:04:40.565Z,1628985880.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:04:40.567Z,1628985880.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:04:40.965Z,1628985880.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:04:41.369Z,1628985881.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE6,000,0075C,183,80,80,82,FF
2021-08-15T00:04:41.370Z,1628985881.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:04:41.809Z,1628985881.809 [Micromodem](INFO): Nmea in: $SNTTA,0.089866,,,,000441.77*48

2021-08-15T00:04:41.856Z,1628985881.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.540001 m, bearing: 315.384449 deg, deltaT: 4.503224 s, approachRate: -0.759456 m/s, LOS rate: 0.075576 deg/s, posRepo size: 4
2021-08-15T00:04:41.858Z,1628985881.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.540001 m,
      bearing: 315.384449 deg,
      approachRate: -0.759456 m/s,
      LOS rate: 0.075576 deg/s,
      cmd update: 0.302303 deg/s,
      cmd heading: 312.814136 deg,
      new cmd heading: 313.322560 deg.

2021-08-15T00:04:44.294Z,1628985884.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:04:44.601Z,1628985884.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:04:44.601Z,1628985884.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:04:44.602Z,1628985884.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:04:44.603Z,1628985884.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:04:45.001Z,1628985885.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE6,000,0075C,183,80,80,82,FF
2021-08-15T00:04:45.001Z,1628985885.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:04:45.001Z,1628985885.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:04:45.003Z,1628985885.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:04:45.419Z,1628985885.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:04:45.809Z,1628985885.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00727,182,80,80,A9,FF
2021-08-15T00:04:45.810Z,1628985885.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:04:46.250Z,1628985886.250 [Micromodem](INFO): Nmea in: $SNTTA,0.055849,,,,000446.20*41

2021-08-15T00:04:46.306Z,1628985886.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.360001 m, bearing: 314.453112 deg, deltaT: 4.367253 s, approachRate: -0.728147 m/s, LOS rate: -0.213255 deg/s, posRepo size: 4
2021-08-15T00:04:46.308Z,1628985886.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.360001 m,
      bearing: 314.453112 deg,
      approachRate: -0.728147 m/s,
      LOS rate: -0.213255 deg/s,
      cmd update: -0.853019 deg/s,
      cmd heading: 314.139235 deg,
      new cmd heading: 314.284206 deg.

2021-08-15T00:04:48.675Z,1628985888.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:04:49.037Z,1628985889.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:04:49.038Z,1628985889.038 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:04:49.038Z,1628985889.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:04:49.039Z,1628985889.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:04:49.461Z,1628985889.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00727,182,80,80,A9,FF
2021-08-15T00:04:49.461Z,1628985889.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:04:49.461Z,1628985889.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:04:49.463Z,1628985889.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:04:49.856Z,1628985889.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:04:50.254Z,1628985890.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,006F1,183,80,80,9B,FF
2021-08-15T00:04:50.255Z,1628985890.255 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:04:50.689Z,1628985890.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000450.66*5F

2021-08-15T00:04:50.715Z,1628985890.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.120003 m, bearing: 316.576536 deg, deltaT: 4.510645 s, approachRate: -0.718300 m/s, LOS rate: 0.470758 deg/s, posRepo size: 4
2021-08-15T00:04:50.717Z,1628985890.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.120003 m,
      bearing: 316.576536 deg,
      approachRate: -0.718300 m/s,
      LOS rate: 0.470758 deg/s,
      cmd update: 1.883033 deg/s,
      cmd heading: 310.298742 deg,
      new cmd heading: 309.969243 deg.

2021-08-15T00:04:53.099Z,1628985893.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:04:53.497Z,1628985893.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:04:53.497Z,1628985893.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:04:53.497Z,1628985893.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:04:53.498Z,1628985893.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:04:53.920Z,1628985893.920 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,006F1,183,80,80,9B,FF
2021-08-15T00:04:53.921Z,1628985893.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:04:53.921Z,1628985893.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:04:53.936Z,1628985893.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:04:54.337Z,1628985894.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:04:55.126Z,1628985895.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000455.13*58

2021-08-15T00:04:56.003Z,1628985896.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:04:57.525Z,1628985897.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,08940,184,80,80,9D,FF
2021-08-15T00:04:57.525Z,1628985897.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:04:58.035Z,1628985898.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2070.659912 m, bearing: 316.111537 deg, deltaT: 7.252340 s, approachRate: 275.985382 m/s, LOS rate: -0.064117 deg/s, posRepo size: 4
2021-08-15T00:04:58.037Z,1628985898.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2070.659912 m,
      bearing: 316.111537 deg,
      approachRate: 275.985382 m/s,
      LOS rate: -0.064117 deg/s,
      cmd update: -0.256469 deg/s,
      cmd heading: 323.955408 deg,
      new cmd heading: 324.810448 deg.

2021-08-15T00:05:00.394Z,1628985900.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:05:00.769Z,1628985900.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:05:00.769Z,1628985900.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:05:00.769Z,1628985900.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:05:00.770Z,1628985900.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:05:01.169Z,1628985901.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,08940,184,80,80,9D,FF
2021-08-15T00:05:01.169Z,1628985901.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:05:01.169Z,1628985901.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:05:01.171Z,1628985901.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:05:01.569Z,1628985901.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:05:01.977Z,1628985901.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,00660,186,80,80,7C,FF
2021-08-15T00:05:01.978Z,1628985901.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:05:02.425Z,1628985902.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000502.37*5D

2021-08-15T00:05:02.452Z,1628985902.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.419998 m, bearing: 313.525846 deg, deltaT: 4.455969 s, approachRate: -451.134155 m/s, LOS rate: -0.580276 deg/s, posRepo size: 4
2021-08-15T00:05:02.454Z,1628985902.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.419998 m,
      bearing: 313.525846 deg,
      approachRate: -451.134155 m/s,
      LOS rate: -0.580276 deg/s,
      cmd update: -2.321103 deg/s,
      cmd heading: 322.811183 deg,
      new cmd heading: 322.706245 deg.

2021-08-15T00:05:04.813Z,1628985904.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:05:05.209Z,1628985905.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:05:05.209Z,1628985905.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:05:05.209Z,1628985905.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:05:05.210Z,1628985905.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:05:05.605Z,1628985905.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,00660,186,80,80,7C,FF
2021-08-15T00:05:05.605Z,1628985905.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:05:05.605Z,1628985905.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:05:05.607Z,1628985905.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:05:06.021Z,1628985906.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:05:06.433Z,1628985906.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FD,000,0062B,186,80,80,92,FF
2021-08-15T00:05:06.433Z,1628985906.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:05:06.861Z,1628985906.861 [Micromodem](INFO): Nmea in: $SNTTA,0.050489,,,,000506.80*4B

2021-08-15T00:05:06.887Z,1628985906.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.240005 m, bearing: 314.019122 deg, deltaT: 4.414377 s, approachRate: -0.720372 m/s, LOS rate: 0.111743 deg/s, posRepo size: 4
2021-08-15T00:05:06.889Z,1628985906.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.240005 m,
      bearing: 314.019122 deg,
      approachRate: -0.720372 m/s,
      LOS rate: 0.111743 deg/s,
      cmd update: 0.446972 deg/s,
      cmd heading: 312.558635 deg,
      new cmd heading: 311.566552 deg.

2021-08-15T00:05:09.303Z,1628985909.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:05:09.657Z,1628985909.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:05:09.657Z,1628985909.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:05:09.657Z,1628985909.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:05:09.658Z,1628985909.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:05:10.061Z,1628985910.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FD,000,0062B,186,80,80,92,FF
2021-08-15T00:05:10.061Z,1628985910.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:05:10.061Z,1628985910.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:05:10.063Z,1628985910.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:05:10.483Z,1628985910.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:05:10.861Z,1628985910.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,005F6,185,80,80,9E,FF
2021-08-15T00:05:10.862Z,1628985910.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:05:11.305Z,1628985911.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000511.26*5F

2021-08-15T00:05:11.327Z,1628985911.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.060001 m, bearing: 316.612272 deg, deltaT: 4.443624 s, approachRate: -0.715633 m/s, LOS rate: 0.583566 deg/s, posRepo size: 4
2021-08-15T00:05:11.330Z,1628985911.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.060001 m,
      bearing: 316.612272 deg,
      approachRate: -0.715633 m/s,
      LOS rate: 0.583566 deg/s,
      cmd update: 2.334266 deg/s,
      cmd heading: 314.535863 deg,
      new cmd heading: 314.734442 deg.

2021-08-15T00:05:13.733Z,1628985913.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:05:14.089Z,1628985914.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:05:14.089Z,1628985914.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:05:14.089Z,1628985914.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:05:14.090Z,1628985914.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:05:14.509Z,1628985914.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,005F6,185,80,80,9E,FF
2021-08-15T00:05:14.509Z,1628985914.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:05:14.509Z,1628985914.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:05:14.511Z,1628985914.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:05:14.937Z,1628985914.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:05:15.341Z,1628985915.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03D,000,005BC,184,80,80,A9,FF
2021-08-15T00:05:15.342Z,1628985915.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:05:15.769Z,1628985915.769 [Micromodem](INFO): Nmea in: $SNTTA,0.413104,,,,000515.71*44

2021-08-15T00:05:15.824Z,1628985915.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.580002 m, bearing: 315.013816 deg, deltaT: 4.460101 s, approachRate: -0.780251 m/s, LOS rate: -0.358390 deg/s, posRepo size: 4
2021-08-15T00:05:15.826Z,1628985915.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.580002 m,
      bearing: 315.013816 deg,
      approachRate: -0.780251 m/s,
      LOS rate: -0.358390 deg/s,
      cmd update: -1.433560 deg/s,
      cmd heading: 324.993469 deg,
      new cmd heading: 326.058662 deg.

2021-08-15T00:05:18.218Z,1628985918.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:05:18.573Z,1628985918.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:05:18.573Z,1628985918.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:05:18.573Z,1628985918.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:05:18.574Z,1628985918.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:05:18.973Z,1628985918.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03D,000,005BC,184,80,80,A9,FF
2021-08-15T00:05:18.973Z,1628985918.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:05:18.974Z,1628985918.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:05:18.975Z,1628985918.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:05:19.418Z,1628985919.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:05:19.785Z,1628985919.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,112,000,0058D,186,80,80,95,FF
2021-08-15T00:05:19.785Z,1628985919.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:05:20.209Z,1628985920.209 [Micromodem](INFO): Nmea in: $SNTTA,0.047735,0.401595,,,000520.17*51

2021-08-15T00:05:20.285Z,1628985920.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.759995 m, bearing: 312.905364 deg, deltaT: 4.466068 s, approachRate: -0.631430 m/s, LOS rate: -0.472105 deg/s, posRepo size: 4
2021-08-15T00:05:20.287Z,1628985920.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.759995 m,
      bearing: 312.905364 deg,
      approachRate: -0.631430 m/s,
      LOS rate: -0.472105 deg/s,
      cmd update: -1.888419 deg/s,
      cmd heading: 318.594835 deg,
      new cmd heading: 317.961340 deg.

2021-08-15T00:05:22.666Z,1628985922.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:05:23.017Z,1628985923.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:05:23.017Z,1628985923.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:05:23.017Z,1628985923.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:05:23.018Z,1628985923.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:05:23.453Z,1628985923.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
112,000,0058D,186,80,80,95,FF
2021-08-15T00:05:23.453Z,1628985923.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:05:23.453Z,1628985923.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:05:23.455Z,1628985923.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:05:23.836Z,1628985923.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:05:24.242Z,1628985924.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,00550,186,80,80,93,FF
2021-08-15T00:05:24.242Z,1628985924.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:05:24.661Z,1628985924.661 [Micromodem](INFO): Nmea in: $SNTTA,0.161705,,,,000524.65*44

2021-08-15T00:05:24.707Z,1628985924.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.100002 m, bearing: 313.797141 deg, deltaT: 4.521507 s, approachRate: -0.809463 m/s, LOS rate: 0.197230 deg/s, posRepo size: 4
2021-08-15T00:05:24.714Z,1628985924.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.100002 m,
      bearing: 313.797141 deg,
      approachRate: -0.809463 m/s,
      LOS rate: 0.197230 deg/s,
      cmd update: 0.788920 deg/s,
      cmd heading: 310.059716 deg,
      new cmd heading: 309.377995 deg.

2021-08-15T00:05:27.090Z,1628985927.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:05:27.473Z,1628985927.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:05:27.473Z,1628985927.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:05:27.474Z,1628985927.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:05:27.474Z,1628985927.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:05:27.872Z,1628985927.872 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,00550,186,80,80,93,FF
2021-08-15T00:05:27.873Z,1628985927.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:05:27.874Z,1628985927.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:05:27.880Z,1628985927.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:05:28.289Z,1628985928.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:05:28.677Z,1628985928.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,00523,183,80,80,65,FF
2021-08-15T00:05:28.677Z,1628985928.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:05:29.114Z,1628985929.114 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000529.08*58

2021-08-15T00:05:29.130Z,1628985929.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.399998 m, bearing: 315.819642 deg, deltaT: 4.376695 s, approachRate: -0.616905 m/s, LOS rate: 0.462107 deg/s, posRepo size: 4
2021-08-15T00:05:29.132Z,1628985929.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.399998 m,
      bearing: 315.819642 deg,
      approachRate: -0.616905 m/s,
      LOS rate: 0.462107 deg/s,
      cmd update: 1.848428 deg/s,
      cmd heading: 313.516098 deg,
      new cmd heading: 313.833751 deg.

2021-08-15T00:05:31.554Z,1628985931.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:05:31.934Z,1628985931.934 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:05:31.934Z,1628985931.934 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:05:31.934Z,1628985931.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:05:31.935Z,1628985931.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:05:32.322Z,1628985932.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF3,000,00523,183,80,80,65,FF
2021-08-15T00:05:32.322Z,1628985932.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:05:32.323Z,1628985932.323 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:05:32.325Z,1628985932.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:05:32.721Z,1628985932.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:05:33.127Z,1628985933.127 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,004EE,184,80,80,5C,FF
2021-08-15T00:05:33.128Z,1628985933.128 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:05:33.553Z,1628985933.553 [Micromodem](INFO): Nmea in: $SNTTA,0.053407,,,,000533.52*47

2021-08-15T00:05:33.631Z,1628985933.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.220001 m, bearing: 312.976343 deg, deltaT: 4.427942 s, approachRate: -0.718166 m/s, LOS rate: -0.642126 deg/s, posRepo size: 4
2021-08-15T00:05:33.636Z,1628985933.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.22 m.
2021-08-15T00:05:33.648Z,1628985933.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.220001 m,
      bearing: 312.976343 deg,
      approachRate: -0.718166 m/s,
      LOS rate: -0.642126 deg/s,
      cmd update: -2.568506 deg/s,
      cmd heading: 321.697605 deg,
      new cmd heading: 322.580320 deg.

2021-08-15T00:05:34.018Z,1628985934.018 [PowerOnly](INFO): Powering up loadControl
2021-08-15T00:05:34.079Z,1628985934.079 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T00:05:34.079Z,1628985934.079 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:05:34.079Z,1628985934.079 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T00:05:34.080Z,1628985934.080 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T00:05:34.080Z,1628985934.080 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T00:05:34.080Z,1628985934.080 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T00:05:34.446Z,1628985934.446 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T00:05:34.446Z,1628985934.446 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:05:34.446Z,1628985934.446 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T00:05:34.446Z,1628985934.446 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:05:36.053Z,1628985936.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:05:36.346Z,1628985936.346 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:05:36.346Z,1628985936.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:05:36.347Z,1628985936.347 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:05:36.347Z,1628985936.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:05:36.750Z,1628985936.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,004EE,184,80,80,5C,FF
2021-08-15T00:05:36.750Z,1628985936.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:05:36.750Z,1628985936.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:05:36.751Z,1628985936.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:05:37.177Z,1628985937.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:05:37.561Z,1628985937.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C7,000,004BA,186,80,80,A6,FF
2021-08-15T00:05:37.561Z,1628985937.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:05:37.618Z,1628985937.618 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:05:38.014Z,1628985938.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000537.95*53

2021-08-15T00:05:38.068Z,1628985938.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.099998 m, bearing: 310.644243 deg, deltaT: 4.460217 s, approachRate: -0.699518 m/s, LOS rate: -0.522867 deg/s, posRepo size: 4
2021-08-15T00:05:38.069Z,1628985938.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.10 m.
2021-08-15T00:05:38.071Z,1628985938.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.099998 m,
      bearing: 310.644243 deg,
      approachRate: -0.699518 m/s,
      LOS rate: -0.522867 deg/s,
      cmd update: -2.091468 deg/s,
      cmd heading: 310.238433 deg,
      new cmd heading: 309.075064 deg.

2021-08-15T00:05:40.468Z,1628985940.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:05:40.801Z,1628985940.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:05:40.801Z,1628985940.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:05:40.802Z,1628985940.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:05:40.803Z,1628985940.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:05:41.197Z,1628985941.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C7,000,004BA,186,80,80,A6,FF
2021-08-15T00:05:41.197Z,1628985941.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:05:41.197Z,1628985941.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:05:41.199Z,1628985941.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:05:41.609Z,1628985941.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:05:42.005Z,1628985942.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,00487,184,80,80,58,FF
2021-08-15T00:05:42.006Z,1628985942.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:05:42.095Z,1628985942.095 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:05:42.466Z,1628985942.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000542.40*59

2021-08-15T00:05:42.492Z,1628985942.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.040001 m, bearing: 312.787284 deg, deltaT: 4.476375 s, approachRate: -0.683588 m/s, LOS rate: 0.478745 deg/s, posRepo size: 4
2021-08-15T00:05:42.493Z,1628985942.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.04 m.
2021-08-15T00:05:42.495Z,1628985942.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.040001 m,
      bearing: 312.787284 deg,
      approachRate: -0.683588 m/s,
      LOS rate: 0.478745 deg/s,
      cmd update: 1.914978 deg/s,
      cmd heading: 300.884447 deg,
      new cmd heading: 300.038559 deg.

2021-08-15T00:05:44.866Z,1628985944.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:05:45.242Z,1628985945.242 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:05:45.242Z,1628985945.242 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:05:45.242Z,1628985945.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:05:45.243Z,1628985945.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:05:45.653Z,1628985945.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,00487,184,80,80,58,FF
2021-08-15T00:05:45.653Z,1628985945.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:05:45.653Z,1628985945.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:05:45.655Z,1628985945.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:05:46.048Z,1628985946.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:05:46.461Z,1628985946.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,0045C,184,80,80,72,FF
2021-08-15T00:05:46.461Z,1628985946.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:05:46.520Z,1628985946.520 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:05:46.926Z,1628985946.926 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000546.85*54

2021-08-15T00:05:46.974Z,1628985946.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.460001 m, bearing: 309.637091 deg, deltaT: 4.425354 s, approachRate: -0.583004 m/s, LOS rate: -0.711851 deg/s, posRepo size: 4
2021-08-15T00:05:46.974Z,1628985946.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.46 m.
2021-08-15T00:05:46.975Z,1628985946.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.46 m.
2021-08-15T00:05:46.975Z,1628985946.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T00:05:46.981Z,1628985946.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.460001 m,
      bearing: 309.637091 deg,
      approachRate: -0.583004 m/s,
      LOS rate: -0.711851 deg/s,
      cmd update: -2.847404 deg/s,
      cmd heading: 309.350862 deg,
      new cmd heading: 310.241668 deg.

2021-08-15T00:05:49.360Z,1628985949.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:05:49.681Z,1628985949.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:05:49.681Z,1628985949.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:05:49.681Z,1628985949.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:05:49.682Z,1628985949.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:05:50.093Z,1628985950.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,0045C,184,80,80,72,FF
2021-08-15T00:05:50.093Z,1628985950.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:05:50.093Z,1628985950.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:05:50.095Z,1628985950.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:05:50.497Z,1628985950.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:05:50.921Z,1628985950.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD2,000,00426,185,80,80,B2,FF
2021-08-15T00:05:50.921Z,1628985950.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:05:51.024Z,1628985951.024 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:05:51.337Z,1628985951.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000551.29*54

2021-08-15T00:05:51.365Z,1628985951.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.219999 m, bearing: 314.816150 deg, deltaT: 4.503894 s, approachRate: -0.719378 m/s, LOS rate: 1.149907 deg/s, posRepo size: 4
2021-08-15T00:05:51.367Z,1628985951.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.219999 m,
      bearing: 314.816150 deg,
      approachRate: -0.719378 m/s,
      LOS rate: 1.149907 deg/s,
      cmd update: 4.599628 deg/s,
      cmd heading: 296.532553 deg,
      new cmd heading: 295.525025 deg.

2021-08-15T00:05:53.759Z,1628985953.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:05:54.125Z,1628985954.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:05:54.125Z,1628985954.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:05:54.125Z,1628985954.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:05:54.126Z,1628985954.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:05:54.529Z,1628985954.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD2,000,00426,185,80,80,B2,FF
2021-08-15T00:05:54.529Z,1628985954.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:05:54.529Z,1628985954.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:05:54.531Z,1628985954.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:05:54.937Z,1628985954.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:05:55.341Z,1628985955.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5A,000,003F7,186,80,80,9D,FF
2021-08-15T00:05:55.342Z,1628985955.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:05:55.368Z,1628985955.368 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:05:55.793Z,1628985955.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000555.73*5F

2021-08-15T00:05:55.837Z,1628985955.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 322.599233 deg, deltaT: 4.343851 s, approachRate: -0.649193 m/s, LOS rate: 1.791747 deg/s, posRepo size: 4
2021-08-15T00:05:55.841Z,1628985955.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.400002 m,
      bearing: 322.599233 deg,
      approachRate: -0.649193 m/s,
      LOS rate: 1.791747 deg/s,
      cmd update: 7.166988 deg/s,
      cmd heading: 316.560037 deg,
      new cmd heading: 318.729865 deg.

2021-08-15T00:05:58.215Z,1628985958.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:05:58.577Z,1628985958.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:05:58.577Z,1628985958.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:05:58.577Z,1628985958.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:05:58.578Z,1628985958.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:05:58.978Z,1628985958.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5A,000,003F7,186,80,80,9D,FF
2021-08-15T00:05:58.978Z,1628985958.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:05:58.978Z,1628985958.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:05:58.980Z,1628985958.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:05:59.417Z,1628985959.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:05:59.789Z,1628985959.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF5,000,003C9,186,80,80,87,FF
2021-08-15T00:05:59.789Z,1628985959.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:05:59.830Z,1628985959.830 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:06:00.217Z,1628985960.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000600.18*51

2021-08-15T00:06:00.300Z,1628985960.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.639997 m, bearing: 318.640237 deg, deltaT: 4.461909 s, approachRate: -0.618570 m/s, LOS rate: -0.887288 deg/s, posRepo size: 4
2021-08-15T00:06:00.302Z,1628985960.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.639997 m,
      bearing: 318.640237 deg,
      approachRate: -0.618570 m/s,
      LOS rate: -0.887288 deg/s,
      cmd update: -3.549150 deg/s,
      cmd heading: 348.395900 deg,
      new cmd heading: 351.901138 deg.

2021-08-15T00:06:02.664Z,1628985962.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:06:03.013Z,1628985963.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:06:03.013Z,1628985963.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:06:03.013Z,1628985963.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:06:03.014Z,1628985963.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:06:03.445Z,1628985963.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF5,000,003C9,186,80,80,87,FF
2021-08-15T00:06:03.445Z,1628985963.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:06:03.445Z,1628985963.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:06:03.447Z,1628985963.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:06:03.832Z,1628985963.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:06:04.229Z,1628985964.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01C,000,0039A,185,80,80,A6,FF
2021-08-15T00:06:04.229Z,1628985964.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:06:04.345Z,1628985964.345 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:06:04.661Z,1628985964.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000604.64*5E

2021-08-15T00:06:04.699Z,1628985964.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.820002 m, bearing: 321.039491 deg, deltaT: 4.515479 s, approachRate: -0.624518 m/s, LOS rate: 0.531340 deg/s, posRepo size: 4
2021-08-15T00:06:04.701Z,1628985964.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.820002 m,
      bearing: 321.039491 deg,
      approachRate: -0.624518 m/s,
      LOS rate: 0.531340 deg/s,
      cmd update: 2.125360 deg/s,
      cmd heading: 332.312525 deg,
      new cmd heading: 331.032428 deg.

2021-08-15T00:06:07.087Z,1628985967.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:06:07.461Z,1628985967.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:06:07.461Z,1628985967.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:06:07.461Z,1628985967.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:06:07.462Z,1628985967.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:06:07.866Z,1628985967.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01C,000,0039A,185,80,80,A6,FF
2021-08-15T00:06:07.867Z,1628985967.867 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:06:07.867Z,1628985967.867 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:06:07.874Z,1628985967.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:06:08.271Z,1628985968.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:06:08.677Z,1628985968.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,163,000,0036B,185,80,80,43,FF
2021-08-15T00:06:08.678Z,1628985968.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:06:08.736Z,1628985968.736 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:06:09.109Z,1628985969.109 [Micromodem](INFO): Nmea in: $SNTTA,0.040956,,,,000609.07*46

2021-08-15T00:06:09.140Z,1628985969.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 319.603703 deg, deltaT: 4.390795 s, approachRate: -0.642253 m/s, LOS rate: -0.326999 deg/s, posRepo size: 4
2021-08-15T00:06:09.142Z,1628985969.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 319.603703 deg,
      approachRate: -0.642253 m/s,
      LOS rate: -0.326999 deg/s,
      cmd update: -1.307998 deg/s,
      cmd heading: 341.645650 deg,
      new cmd heading: 342.517018 deg.

2021-08-15T00:06:11.535Z,1628985971.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:06:11.933Z,1628985971.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:06:11.933Z,1628985971.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:06:11.933Z,1628985971.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:06:11.934Z,1628985971.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:06:12.309Z,1628985972.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
163,000,0036B,185,80,80,43,FF
2021-08-15T00:06:12.309Z,1628985972.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:06:12.310Z,1628985972.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:06:12.311Z,1628985972.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:06:12.725Z,1628985972.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:06:13.113Z,1628985973.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,251,000,00344,189,80,80,B7,FF
2021-08-15T00:06:13.114Z,1628985973.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:06:13.134Z,1628985973.134 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:06:13.549Z,1628985973.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000613.51*5E

2021-08-15T00:06:13.616Z,1628985973.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.660002 m, bearing: 316.973288 deg, deltaT: 4.397594 s, approachRate: -0.532109 m/s, LOS rate: -0.598149 deg/s, posRepo size: 4
2021-08-15T00:06:13.618Z,1628985973.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.660002 m,
      bearing: 316.973288 deg,
      approachRate: -0.532109 m/s,
      LOS rate: -0.598149 deg/s,
      cmd update: -2.392595 deg/s,
      cmd heading: 335.889052 deg,
      new cmd heading: 335.259735 deg.

2021-08-15T00:06:16.032Z,1628985976.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:06:16.345Z,1628985976.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:06:16.345Z,1628985976.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:06:16.345Z,1628985976.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:06:16.346Z,1628985976.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:06:16.749Z,1628985976.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
251,000,00344,189,80,80,B7,FF
2021-08-15T00:06:16.749Z,1628985976.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:06:16.749Z,1628985976.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:06:16.751Z,1628985976.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:06:17.156Z,1628985977.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:06:17.992Z,1628985977.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000617.95*52

2021-08-15T00:06:18.807Z,1628985978.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:06:20.417Z,1628985980.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,B7,FF
2021-08-15T00:06:20.417Z,1628985980.417 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,B7,FF
2021-08-15T00:06:20.417Z,1628985980.417 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:06:21.630Z,1628985981.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:06:22.001Z,1628985982.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:06:22.001Z,1628985982.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:06:22.001Z,1628985982.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:06:22.002Z,1628985982.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:06:22.429Z,1628985982.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,B7,FF
2021-08-15T00:06:22.429Z,1628985982.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:06:22.429Z,1628985982.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:06:22.431Z,1628985982.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:06:22.816Z,1628985982.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:06:23.218Z,1628985983.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,002E5,183,80,80,9F,FF
2021-08-15T00:06:23.218Z,1628985983.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:06:23.241Z,1628985983.241 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:06:23.657Z,1628985983.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000623.63*5C

2021-08-15T00:06:23.698Z,1628985983.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.960000 m, bearing: 317.585328 deg, deltaT: 10.107883 s, approachRate: -0.563916 m/s, LOS rate: 0.060551 deg/s, posRepo size: 4
2021-08-15T00:06:23.700Z,1628985983.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.960000 m,
      bearing: 317.585328 deg,
      approachRate: -0.563916 m/s,
      LOS rate: 0.060551 deg/s,
      cmd update: 0.242203 deg/s,
      cmd heading: 311.712269 deg,
      new cmd heading: 310.606099 deg.

2021-08-15T00:06:26.088Z,1628985986.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:06:26.469Z,1628985986.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:06:26.469Z,1628985986.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:06:26.469Z,1628985986.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:06:26.470Z,1628985986.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:06:26.849Z,1628985986.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,002E5,183,80,80,9F,FF
2021-08-15T00:06:26.849Z,1628985986.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:06:26.849Z,1628985986.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:06:26.851Z,1628985986.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:06:27.259Z,1628985987.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:06:27.661Z,1628985987.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,002CA,184,80,80,AC,FF
2021-08-15T00:06:27.661Z,1628985987.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:06:27.720Z,1628985987.720 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:06:28.097Z,1628985988.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000628.05*57

2021-08-15T00:06:28.147Z,1628985988.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 313.490957 deg, deltaT: 4.478703 s, approachRate: -0.361712 m/s, LOS rate: -0.914187 deg/s, posRepo size: 4
2021-08-15T00:06:28.150Z,1628985988.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 313.490957 deg,
      approachRate: -0.361712 m/s,
      LOS rate: -0.914187 deg/s,
      cmd update: -3.656747 deg/s,
      cmd heading: 312.796787 deg,
      new cmd heading: 312.901923 deg.

2021-08-15T00:06:30.538Z,1628985990.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:06:30.889Z,1628985990.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:06:30.889Z,1628985990.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:06:30.889Z,1628985990.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:06:30.890Z,1628985990.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:06:31.306Z,1628985991.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,002CA,184,80,80,AC,FF
2021-08-15T00:06:31.306Z,1628985991.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:06:31.306Z,1628985991.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:06:31.307Z,1628985991.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:06:31.701Z,1628985991.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:06:32.098Z,1628985992.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,002C2,185,80,80,9B,FF
2021-08-15T00:06:32.098Z,1628985992.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:06:32.159Z,1628985992.159 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:06:32.553Z,1628985992.553 [Micromodem](INFO): Nmea in: $SNTTA,0.031914,,,,000632.51*4D

2021-08-15T00:06:32.577Z,1628985992.577 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T00:06:32.577Z,1628985992.577 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T00:06:32.578Z,1628985992.578 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T00:06:32.578Z,1628985992.578 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T00:06:32.578Z,1628985992.578 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T00:06:32.579Z,1628985992.579 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.860001 m 
2021-08-15T00:06:32.579Z,1628985992.579 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T00:06:32.579Z,1628985992.579 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T00:06:32.579Z,1628985992.579 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T00:06:32.582Z,1628985992.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.860001 m, bearing: 311.956377 deg, deltaT: 4.439017 s, approachRate: -0.108132 m/s, LOS rate: -0.345703 deg/s, posRepo size: 4
2021-08-15T00:06:32.584Z,1628985992.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 311.956377 deg,
      approachRate: -0.108132 m/s,
      LOS rate: -0.345703 deg/s,
      cmd update: -1.382810 deg/s,
      cmd heading: 296.550399 deg,
      new cmd heading: 294.994204 deg.

2021-08-15T00:06:32.952Z,1628985992.952 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T000632: (41.552319, -70.708603)
2021-08-15T00:06:32.952Z,1628985992.952 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T00:06:32.952Z,1628985992.952 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T00:06:32.952Z,1628985992.952 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T00:06:32.952Z,1628985992.952 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T00:06:32.953Z,1628985992.953 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T00:06:32.953Z,1628985992.953 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T00:06:32.953Z,1628985992.953 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T00:06:32.953Z,1628985992.953 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T00:06:33.362Z,1628985993.362 [UniversalFixResidualReporter](INFO): Fix residual: 13.4 %DT, over the last 1046.3 m. Residual distance 140.1 m at bearing 65.8 degrees. Fix at (41.5525, -70.7110) with 196.4 m made good.
2021-08-15T00:06:34.955Z,1628985994.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:06:35.337Z,1628985995.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:06:35.337Z,1628985995.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:06:35.337Z,1628985995.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:06:35.338Z,1628985995.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:06:35.745Z,1628985995.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,002C2,185,80,80,9B,FF
2021-08-15T00:06:35.746Z,1628985995.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:06:35.746Z,1628985995.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:06:35.748Z,1628985995.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:06:36.149Z,1628985996.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:06:36.545Z,1628985996.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,002C0,186,80,80,7A,FF
2021-08-15T00:06:36.545Z,1628985996.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:06:36.610Z,1628985996.610 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:06:37.009Z,1628985997.009 [Micromodem](INFO): Nmea in: $SNTTA,0.011966,,,,000636.95*46

2021-08-15T00:06:37.041Z,1628985997.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 323.531963 deg, deltaT: 4.450803 s, approachRate: -0.026962 m/s, LOS rate: 2.600786 deg/s, posRepo size: 4
2021-08-15T00:06:37.042Z,1628985997.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 323.531963 deg,
      approachRate: -0.026962 m/s,
      LOS rate: 2.600786 deg/s,
      cmd update: 10.403144 deg/s,
      cmd heading: 290.406592 deg,
      new cmd heading: 289.796514 deg.

2021-08-15T00:06:39.526Z,1628985999.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:06:39.781Z,1628985999.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:06:39.781Z,1628985999.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:06:39.781Z,1628985999.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:06:39.782Z,1628985999.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:06:40.182Z,1628986000.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,002C0,186,80,80,7A,FF
2021-08-15T00:06:40.182Z,1628986000.182 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:06:40.182Z,1628986000.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:06:40.184Z,1628986000.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:06:40.601Z,1628986000.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:06:40.993Z,1628986000.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,002C1,186,80,80,92,FF
2021-08-15T00:06:40.993Z,1628986000.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:06:41.013Z,1628986001.013 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:06:41.449Z,1628986001.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000641.38*56

2021-08-15T00:06:41.479Z,1628986001.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.800000 m, bearing: 344.298279 deg, deltaT: 4.402465 s, approachRate: 0.013629 m/s, LOS rate: 4.716975 deg/s, posRepo size: 4
2021-08-15T00:06:41.481Z,1628986001.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 344.298279 deg,
      approachRate: 0.013629 m/s,
      LOS rate: 4.716975 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 336.289336 deg,
      new cmd heading: 341.175245 deg.

2021-08-15T00:06:43.854Z,1628986003.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:06:44.221Z,1628986004.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:06:44.221Z,1628986004.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:06:44.221Z,1628986004.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:06:44.222Z,1628986004.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:06:44.637Z,1628986004.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,002C1,186,80,80,92,FF
2021-08-15T00:06:44.637Z,1628986004.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:06:44.637Z,1628986004.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:06:44.639Z,1628986004.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:06:45.036Z,1628986005.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:06:45.549Z,1628986005.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,002BE,185,80,80,9F,FF
2021-08-15T00:06:45.550Z,1628986005.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:06:45.605Z,1628986005.605 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:06:45.877Z,1628986005.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000645.84*55

2021-08-15T00:06:45.969Z,1628986005.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 3.889801 deg, deltaT: 4.592805 s, approachRate: -0.039192 m/s, LOS rate: 4.265697 deg/s, posRepo size: 4
2021-08-15T00:06:45.969Z,1628986005.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.62 m.
2021-08-15T00:06:45.971Z,1628986005.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 3.889801 deg,
      approachRate: -0.039192 m/s,
      LOS rate: 4.265697 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 31.403105 deg,
      new cmd heading: 35.747885 deg.

2021-08-15T00:06:48.314Z,1628986008.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:06:48.673Z,1628986008.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:06:48.673Z,1628986008.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:06:48.673Z,1628986008.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:06:48.674Z,1628986008.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:06:49.074Z,1628986009.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,002BE,185,80,80,9F,FF
2021-08-15T00:06:49.074Z,1628986009.074 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:06:49.074Z,1628986009.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:06:49.076Z,1628986009.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:06:49.485Z,1628986009.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:06:49.889Z,1628986009.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E1,000,002BD,186,80,80,86,FF
2021-08-15T00:06:49.890Z,1628986009.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:06:49.980Z,1628986009.980 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:06:50.330Z,1628986010.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000650.27*58

2021-08-15T00:06:50.419Z,1628986010.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 22.759850 deg, deltaT: 4.374741 s, approachRate: -0.013715 m/s, LOS rate: 4.313409 deg/s, posRepo size: 4
2021-08-15T00:06:50.428Z,1628986010.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 4.56 m. Cable present.
2021-08-15T00:06:50.428Z,1628986010.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-15T00:06:50.428Z,1628986010.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T00:06:50.429Z,1628986010.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-15T00:06:50.708Z,1628986010.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-15T00:06:50.709Z,1628986010.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-15T00:06:50.709Z,1628986010.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-15T00:06:51.138Z,1628986011.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-15T00:06:51.139Z,1628986011.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T00:06:51.139Z,1628986011.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-15T00:06:51.139Z,1628986011.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T00:06:51.139Z,1628986011.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-15T00:06:51.139Z,1628986011.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-15T00:06:51.139Z,1628986011.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-15T00:06:51.140Z,1628986011.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T00:06:51.495Z,1628986011.495 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-15T00:06:51.496Z,1628986011.496 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T00:06:51.496Z,1628986011.496 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-15T00:06:51.496Z,1628986011.496 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T00:06:51.496Z,1628986011.496 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-15T00:06:51.496Z,1628986011.496 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-15T00:06:51.497Z,1628986011.497 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-15T00:06:51.497Z,1628986011.497 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-15T00:06:51.497Z,1628986011.497 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-15T00:06:51.497Z,1628986011.497 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-15T00:06:51.498Z,1628986011.498 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-15T00:06:51.498Z,1628986011.498 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-15T00:06:51.498Z,1628986011.498 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T00:06:51.498Z,1628986011.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-15T00:06:51.498Z,1628986011.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T00:06:51.498Z,1628986011.498 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-15T00:06:51.498Z,1628986011.498 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-15T00:06:51.976Z,1628986011.976 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-15T00:06:51.976Z,1628986011.976 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T00:06:52.750Z,1628986012.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:06:53.077Z,1628986013.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:06:53.077Z,1628986013.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:06:53.077Z,1628986013.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:06:53.078Z,1628986013.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:06:53.489Z,1628986013.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E1,000,002BD,186,80,80,86,FF
2021-08-15T00:06:53.489Z,1628986013.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:06:53.489Z,1628986013.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:06:53.493Z,1628986013.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:06:53.935Z,1628986013.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:06:54.293Z,1628986014.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,002BE,186,80,80,82,FF
2021-08-15T00:06:54.293Z,1628986014.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:06:54.717Z,1628986014.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000654.69*56

2021-08-15T00:06:55.158Z,1628986015.158 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-15T00:06:55.158Z,1628986015.158 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-15T00:06:55.158Z,1628986015.158 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T00:06:55.158Z,1628986015.158 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-15T00:06:55.564Z,1628986015.564 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-15T00:06:55.564Z,1628986015.564 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-15T00:06:55.566Z,1628986015.566 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-15T00:06:55.566Z,1628986015.566 [lineCaptureDepth:LineCapture] Stopped
2021-08-15T00:06:55.566Z,1628986015.566 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-15T00:06:55.566Z,1628986015.566 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-15T00:06:55.566Z,1628986015.566 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-15T00:06:55.567Z,1628986015.567 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-15T00:06:55.567Z,1628986015.567 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-15T00:06:55.567Z,1628986015.567 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-15T00:06:55.567Z,1628986015.567 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-15T00:06:55.567Z,1628986015.567 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-15T00:06:55.567Z,1628986015.567 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-15T00:06:55.567Z,1628986015.567 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-15T00:06:55.567Z,1628986015.567 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-15T00:06:55.567Z,1628986015.567 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T00:06:55.567Z,1628986015.567 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T00:06:55.567Z,1628986015.567 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T00:06:55.567Z,1628986015.568 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T00:06:55.568Z,1628986015.568 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T00:06:55.568Z,1628986015.568 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T00:06:55.568Z,1628986015.568 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T00:06:55.000Z,1628986016.000 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-15T00:06:56.000Z,1628986016.000 [lineCaptureDepth:Lap:B] Stopped
2021-08-15T00:06:56.000Z,1628986016.000 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-15T00:06:56.001Z,1628986016.001 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-15T00:06:56.350Z,1628986016.350 [lineCaptureDepth:Lap:C] Stopped
2021-08-15T00:06:56.350Z,1628986016.350 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-15T00:06:56.779Z,1628986016.779 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-15T00:06:56.779Z,1628986016.779 [lineCaptureDepth:Lap:D] Stopped
2021-08-15T00:06:56.779Z,1628986016.779 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-15T00:06:56.779Z,1628986016.779 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-15T00:06:56.779Z,1628986016.779 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-15T00:06:57.135Z,1628986017.135 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-15T00:06:57.135Z,1628986017.135 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-15T00:06:57.135Z,1628986017.135 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-15T00:06:57.135Z,1628986017.135 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-15T00:06:57.136Z,1628986017.136 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-15T00:06:57.136Z,1628986017.136 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-15T00:06:57.137Z,1628986017.137 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-15T00:06:57.139Z,1628986017.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:06:57.527Z,1628986017.527 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:06:57.527Z,1628986017.527 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:06:57.527Z,1628986017.527 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:06:57.528Z,1628986017.528 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:06:57.949Z,1628986017.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,002BE,186,80,80,82,FF
2021-08-15T00:06:57.949Z,1628986017.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:06:57.949Z,1628986017.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:06:57.951Z,1628986017.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:06:58.070Z,1628986018.070 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 2.95 mm (3 active estimators).
2021-08-15T00:06:58.449Z,1628986018.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:06:58.765Z,1628986018.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,002C4,186,80,80,67,FF
2021-08-15T00:06:58.766Z,1628986018.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:06:59.225Z,1628986019.225 [Micromodem](INFO): Nmea in: $SNTTA,0.025249,,,,000659.15*46

2021-08-15T00:06:59.599Z,1628986019.599 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:07:01.647Z,1628986021.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:07:01.997Z,1628986021.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:07:01.997Z,1628986021.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:07:01.997Z,1628986021.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:07:01.998Z,1628986021.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:07:02.422Z,1628986022.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,002C4,186,80,80,67,FF
2021-08-15T00:07:02.422Z,1628986022.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:07:02.423Z,1628986022.423 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:07:02.426Z,1628986022.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:07:02.817Z,1628986022.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:07:03.209Z,1628986023.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,002BF,187,80,80,71,FF
2021-08-15T00:07:03.210Z,1628986023.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:07:03.633Z,1628986023.633 [Micromodem](INFO): Nmea in: $SNTTA,0.132099,,,,000703.62*40

2021-08-15T00:07:04.475Z,1628986024.475 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:07:06.083Z,1628986026.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:07:06.453Z,1628986026.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:07:06.453Z,1628986026.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:07:06.453Z,1628986026.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:07:06.454Z,1628986026.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:07:06.849Z,1628986026.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,002BF,187,80,80,71,FF
2021-08-15T00:07:06.849Z,1628986026.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:07:06.849Z,1628986026.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:07:06.851Z,1628986026.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:07:07.267Z,1628986027.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:07:07.653Z,1628986027.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,002C4,186,80,80,7E,FF
2021-08-15T00:07:07.653Z,1628986027.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:07:08.117Z,1628986028.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000708.05*54

2021-08-15T00:07:08.474Z,1628986028.474 [PowerOnly](INFO): Powering down loadControl
2021-08-15T00:07:09.696Z,1628986029.696 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T00:07:10.481Z,1628986030.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:07:10.957Z,1628986030.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:07:10.957Z,1628986030.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:07:10.957Z,1628986030.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:07:10.958Z,1628986030.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:07:11.293Z,1628986031.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,002C4,186,80,80,7E,FF
2021-08-15T00:07:11.293Z,1628986031.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:07:11.294Z,1628986031.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:07:11.295Z,1628986031.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:07:11.701Z,1628986031.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:07:12.101Z,1628986032.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,452,000,002BE,18A,80,80,3D,FF
2021-08-15T00:07:12.102Z,1628986032.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:07:12.109Z,1628986032.109 [Micromodem](INFO): Nmea in: $SNTTA,0.006170,0.199517,,,000712.50*5D

2021-08-15T00:07:14.546Z,1628986034.546 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:07:14.938Z,1628986034.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:07:15.329Z,1628986035.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:07:15.329Z,1628986035.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:07:15.329Z,1628986035.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:07:15.330Z,1628986035.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:07:15.733Z,1628986035.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
452,000,002BE,18A,80,80,3D,FF
2021-08-15T00:07:15.733Z,1628986035.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:07:15.733Z,1628986035.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:07:15.735Z,1628986035.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:07:16.141Z,1628986036.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:07:16.541Z,1628986036.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,002BB,184,80,80,91,FF
2021-08-15T00:07:16.542Z,1628986036.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:07:16.985Z,1628986036.985 [Micromodem](INFO): Nmea in: $SNTTA,0.028643,,,,000716.94*46

2021-08-15T00:07:19.366Z,1628986039.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:07:19.773Z,1628986039.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:07:19.773Z,1628986039.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:07:19.773Z,1628986039.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:07:19.774Z,1628986039.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:07:20.152Z,1628986040.152 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,002BB,184,80,80,91,FF
2021-08-15T00:07:20.152Z,1628986040.152 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:07:20.152Z,1628986040.152 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:07:20.154Z,1628986040.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:07:20.553Z,1628986040.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:07:21.065Z,1628986041.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,498,000,002BB,18A,80,80,53,FF
2021-08-15T00:07:21.066Z,1628986041.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:07:21.433Z,1628986041.433 [Micromodem](INFO): Nmea in: $SNTTA,0.070709,,,,000721.35*4B

2021-08-15T00:07:23.831Z,1628986043.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:07:24.225Z,1628986044.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:07:24.225Z,1628986044.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:07:24.225Z,1628986044.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:07:24.226Z,1628986044.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:07:24.617Z,1628986044.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
498,000,002BB,18A,80,80,53,FF
2021-08-15T00:07:24.617Z,1628986044.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:07:24.617Z,1628986044.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:07:24.619Z,1628986044.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:07:24.664Z,1628986044.664 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:07:25.032Z,1628986045.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:07:25.453Z,1628986045.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,002BE,185,80,80,68,FF
2021-08-15T00:07:25.454Z,1628986045.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:07:25.868Z,1628986045.868 [Micromodem](INFO): Nmea in: $SNTTA,0.416378,,,,000725.82*45

2021-08-15T00:07:28.313Z,1628986048.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:07:28.661Z,1628986048.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:07:28.661Z,1628986048.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:07:28.661Z,1628986048.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:07:28.662Z,1628986048.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:07:29.065Z,1628986049.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,002BE,185,80,80,68,FF
2021-08-15T00:07:29.065Z,1628986049.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:07:29.065Z,1628986049.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:07:29.067Z,1628986049.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:07:29.443Z,1628986049.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:07:29.463Z,1628986049.463 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T00:07:29.880Z,1628986049.880 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,457,000,002BC,18A,80,80,42,FF
2021-08-15T00:07:29.882Z,1628986049.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:07:30.289Z,1628986050.289 [Micromodem](INFO): Nmea in: $SNTTA,0.006098,,,,000730.27*46

2021-08-15T00:07:32.726Z,1628986052.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:07:33.113Z,1628986053.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:07:33.113Z,1628986053.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:07:33.114Z,1628986053.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:07:33.115Z,1628986053.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:07:33.510Z,1628986053.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
457,000,002BC,18A,80,80,42,FF
2021-08-15T00:07:33.510Z,1628986053.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:07:33.510Z,1628986053.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:07:33.512Z,1628986053.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:07:33.954Z,1628986053.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:07:34.326Z,1628986054.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,002BA,187,80,80,75,FF
2021-08-15T00:07:34.326Z,1628986054.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:07:34.753Z,1628986054.753 [Micromodem](INFO): Nmea in: $SNTTA,0.002653,,,,000734.71*44

2021-08-15T00:07:34.761Z,1628986054.761 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T00:07:37.164Z,1628986057.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:07:37.549Z,1628986057.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:07:37.549Z,1628986057.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:07:37.549Z,1628986057.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:07:37.550Z,1628986057.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:07:37.973Z,1628986057.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,002BA,187,80,80,75,FF
2021-08-15T00:07:37.973Z,1628986057.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:07:37.973Z,1628986057.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:07:37.975Z,1628986057.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:07:38.369Z,1628986058.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:07:38.761Z,1628986058.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E38,000,002BE,187,80,80,69,FF
2021-08-15T00:07:38.762Z,1628986058.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:07:39.193Z,1628986059.193 [Micromodem](INFO): Nmea in: $SNTTA,0.075527,,,,000739.17*49

2021-08-15T00:07:39.580Z,1628986059.580 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-15T00:07:39.580Z,1628986059.580 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-15T00:07:39.580Z,1628986059.580 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-15T00:07:39.748Z,1628986059.748 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-15T00:07:40.084Z,1628986060.084 [RDI_PathfinderUp](INFO): Powering down
2021-08-15T00:07:40.935Z,1628986060.935 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-15T00:07:40.935Z,1628986060.935 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-15T00:07:41.602Z,1628986061.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:07:41.993Z,1628986061.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:07:41.993Z,1628986061.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:07:41.993Z,1628986061.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:07:41.994Z,1628986061.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:07:42.405Z,1628986062.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E38,000,002BE,187,80,80,69,FF
2021-08-15T00:07:42.405Z,1628986062.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:07:42.406Z,1628986062.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:07:42.407Z,1628986062.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:07:42.804Z,1628986062.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:07:43.201Z,1628986063.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,002BD,185,80,80,68,FF
2021-08-15T00:07:43.202Z,1628986063.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:07:43.637Z,1628986063.637 [Micromodem](INFO): Nmea in: $SNTTA,0.016461,,,,000743.61*43

2021-08-15T00:07:46.080Z,1628986066.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:07:46.437Z,1628986066.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:07:46.437Z,1628986066.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:07:46.437Z,1628986066.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:07:46.438Z,1628986066.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:07:46.845Z,1628986066.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,002BD,185,80,80,68,FF
2021-08-15T00:07:46.846Z,1628986066.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:07:46.846Z,1628986066.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:07:46.847Z,1628986066.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:07:47.253Z,1628986067.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:07:47.649Z,1628986067.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,178,000,002BD,186,80,80,62,FF
2021-08-15T00:07:47.650Z,1628986067.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:07:48.094Z,1628986068.094 [Micromodem](INFO): Nmea in: $SNTTA,0.002661,,,,000748.05*4D

2021-08-15T00:07:50.461Z,1628986070.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:07:50.849Z,1628986070.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:07:50.849Z,1628986070.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:07:50.849Z,1628986070.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:07:50.850Z,1628986070.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:07:51.445Z,1628986071.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
178,000,002BD,186,80,80,62,FF
2021-08-15T00:07:51.445Z,1628986071.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:07:51.445Z,1628986071.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:07:51.447Z,1628986071.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:07:51.725Z,1628986071.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:07:52.127Z,1628986072.127 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,002BC,186,80,80,94,FF
2021-08-15T00:07:52.127Z,1628986072.127 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:07:52.941Z,1628986072.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000752.65*5D

2021-08-15T00:07:54.967Z,1628986074.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:07:55.364Z,1628986075.364 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:07:55.364Z,1628986075.364 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:07:55.365Z,1628986075.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:07:55.366Z,1628986075.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:07:55.757Z,1628986075.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F64,000,002BC,186,80,80,94,FF
2021-08-15T00:07:55.757Z,1628986075.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:07:55.757Z,1628986075.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:07:55.759Z,1628986075.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:07:56.164Z,1628986076.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:07:56.565Z,1628986076.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,002BD,187,80,80,85,FF
2021-08-15T00:07:56.566Z,1628986076.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:07:57.001Z,1628986077.001 [Micromodem](INFO): Nmea in: $SNTTA,0.325313,,,,000756.96*4E

2021-08-15T00:07:59.491Z,1628986079.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:07:59.765Z,1628986079.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:07:59.766Z,1628986079.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:07:59.766Z,1628986079.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:07:59.767Z,1628986079.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:08:00.201Z,1628986080.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,002BD,187,80,80,85,FF
2021-08-15T00:08:00.201Z,1628986080.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:08:00.202Z,1628986080.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:08:00.203Z,1628986080.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:08:00.585Z,1628986080.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:08:00.985Z,1628986080.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,002BF,186,80,80,87,FF
2021-08-15T00:08:00.985Z,1628986080.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:08:01.529Z,1628986081.529 [Micromodem](INFO): Nmea in: $SNTTA,0.065837,,,,000801.40*42

2021-08-15T00:08:03.855Z,1628986083.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:08:04.245Z,1628986084.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:08:04.246Z,1628986084.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:08:04.246Z,1628986084.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:08:04.247Z,1628986084.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:08:04.653Z,1628986084.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,002BF,186,80,80,87,FF
2021-08-15T00:08:04.654Z,1628986084.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:08:04.654Z,1628986084.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:08:04.656Z,1628986084.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:08:05.052Z,1628986085.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:08:05.453Z,1628986085.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,002BC,185,80,80,8C,FF
2021-08-15T00:08:05.454Z,1628986085.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:08:05.915Z,1628986085.915 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000805.86*5D

2021-08-15T00:08:08.342Z,1628986088.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:08:08.681Z,1628986088.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:08:08.681Z,1628986088.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:08:08.681Z,1628986088.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:08:08.682Z,1628986088.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:08:09.101Z,1628986089.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,002BC,185,80,80,8C,FF
2021-08-15T00:08:09.101Z,1628986089.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:08:09.101Z,1628986089.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:08:09.103Z,1628986089.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:08:09.504Z,1628986089.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:08:09.902Z,1628986089.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,002B8,186,80,80,9A,FF
2021-08-15T00:08:09.903Z,1628986089.903 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:08:10.344Z,1628986090.344 [Micromodem](INFO): Nmea in: $SNTTA,0.022380,,,,000810.30*41

2021-08-15T00:08:12.762Z,1628986092.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:08:13.141Z,1628986093.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:08:13.141Z,1628986093.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:08:13.141Z,1628986093.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:08:13.142Z,1628986093.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:08:13.537Z,1628986093.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,002B8,186,80,80,9A,FF
2021-08-15T00:08:13.537Z,1628986093.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:08:13.537Z,1628986093.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:08:13.539Z,1628986093.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:08:13.972Z,1628986093.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:08:14.369Z,1628986094.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F53,000,002B9,187,80,80,95,FF
2021-08-15T00:08:14.370Z,1628986094.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:08:14.785Z,1628986094.785 [Micromodem](INFO): Nmea in: $SNTTA,0.032098,,,,000814.74*4E

2021-08-15T00:08:17.190Z,1628986097.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:08:17.573Z,1628986097.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:08:17.573Z,1628986097.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:08:17.573Z,1628986097.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:08:17.574Z,1628986097.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:08:17.989Z,1628986097.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F53,000,002B9,187,80,80,95,FF
2021-08-15T00:08:17.989Z,1628986097.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:08:17.989Z,1628986097.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:08:17.991Z,1628986097.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:08:18.413Z,1628986098.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:08:18.797Z,1628986098.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,002B7,186,80,80,95,FF
2021-08-15T00:08:18.798Z,1628986098.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:08:19.217Z,1628986099.217 [Micromodem](INFO): Nmea in: $SNTTA,0.022645,,,,000819.19*4F

2021-08-15T00:08:21.713Z,1628986101.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:08:22.030Z,1628986102.030 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:08:22.030Z,1628986102.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:08:22.030Z,1628986102.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:08:22.031Z,1628986102.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:08:22.445Z,1628986102.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,002B7,186,80,80,95,FF
2021-08-15T00:08:22.445Z,1628986102.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:08:22.445Z,1628986102.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:08:22.447Z,1628986102.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:08:22.850Z,1628986102.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:08:23.234Z,1628986103.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,002B8,186,80,80,9D,FF
2021-08-15T00:08:23.234Z,1628986103.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:08:23.673Z,1628986103.673 [Micromodem](INFO): Nmea in: $SNTTA,0.002564,,,,000823.65*4F

2021-08-15T00:08:26.111Z,1628986106.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:08:26.461Z,1628986106.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:08:26.461Z,1628986106.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:08:26.461Z,1628986106.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:08:26.462Z,1628986106.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:08:26.866Z,1628986106.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,002B8,186,80,80,9D,FF
2021-08-15T00:08:26.867Z,1628986106.867 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:08:26.867Z,1628986106.867 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:08:26.886Z,1628986106.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:08:27.277Z,1628986107.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:08:27.678Z,1628986107.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,002BA,186,80,80,A4,FF
2021-08-15T00:08:27.678Z,1628986107.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:08:28.096Z,1628986108.096 [Micromodem](INFO): Nmea in: $SNTTA,0.038726,0.405417,,,000828.08*5F

2021-08-15T00:08:30.529Z,1628986110.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:08:30.881Z,1628986110.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:08:30.881Z,1628986110.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:08:30.881Z,1628986110.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:08:30.882Z,1628986110.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:08:31.284Z,1628986111.284 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,002BA,186,80,80,A4,FF
2021-08-15T00:08:31.284Z,1628986111.284 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:08:31.284Z,1628986111.284 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:08:31.286Z,1628986111.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:08:31.793Z,1628986111.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:08:32.118Z,1628986112.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,002BA,187,80,80,85,FF
2021-08-15T00:08:32.119Z,1628986112.119 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:08:32.546Z,1628986112.546 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000832.49*5A

2021-08-15T00:08:34.985Z,1628986114.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:08:35.354Z,1628986115.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:08:35.355Z,1628986115.355 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:08:35.355Z,1628986115.355 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:08:35.357Z,1628986115.357 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:08:35.757Z,1628986115.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4F,000,002BA,187,80,80,85,FF
2021-08-15T00:08:35.757Z,1628986115.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:08:35.757Z,1628986115.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:08:35.759Z,1628986115.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:08:36.169Z,1628986116.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:08:36.561Z,1628986116.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,002BA,186,80,80,86,FF
2021-08-15T00:08:36.562Z,1628986116.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:08:36.997Z,1628986116.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000836.96*5C

2021-08-15T00:08:39.496Z,1628986119.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:08:39.797Z,1628986119.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:08:39.797Z,1628986119.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:08:39.797Z,1628986119.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:08:39.798Z,1628986119.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:08:40.177Z,1628986120.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,002BA,186,80,80,86,FF
2021-08-15T00:08:40.177Z,1628986120.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:08:40.177Z,1628986120.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:08:40.179Z,1628986120.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:08:40.611Z,1628986120.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:08:40.978Z,1628986120.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,002BB,184,80,80,AC,FF
2021-08-15T00:08:40.978Z,1628986120.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:08:41.417Z,1628986121.417 [Micromodem](INFO): Nmea in: $SNTTA,,0.250595,,,000841.38*48

2021-08-15T00:08:43.856Z,1628986123.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:08:44.255Z,1628986124.255 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:08:44.255Z,1628986124.255 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:08:44.255Z,1628986124.255 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:08:44.256Z,1628986124.256 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:08:44.653Z,1628986124.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,002BB,184,80,80,AC,FF
2021-08-15T00:08:44.653Z,1628986124.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:08:44.653Z,1628986124.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:08:44.655Z,1628986124.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:08:45.068Z,1628986125.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:08:45.461Z,1628986125.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,002B8,187,80,80,85,FF
2021-08-15T00:08:45.461Z,1628986125.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:08:45.924Z,1628986125.924 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000845.86*59

2021-08-15T00:08:48.323Z,1628986128.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:08:48.689Z,1628986128.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:08:48.689Z,1628986128.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:08:48.689Z,1628986128.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:08:48.690Z,1628986128.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:08:49.093Z,1628986129.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,002B8,187,80,80,85,FF
2021-08-15T00:08:49.093Z,1628986129.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:08:49.093Z,1628986129.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:08:49.095Z,1628986129.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:08:49.533Z,1628986129.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:08:49.917Z,1628986129.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,002B8,186,80,80,81,FF
2021-08-15T00:08:49.918Z,1628986129.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:08:50.296Z,1628986130.296 [Micromodem](INFO): Nmea in: $SNTTA,0.339844,0.339838,,,000850.30*5B

2021-08-15T00:08:52.765Z,1628986132.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:08:53.129Z,1628986133.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:08:53.129Z,1628986133.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:08:53.129Z,1628986133.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:08:53.130Z,1628986133.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:08:53.539Z,1628986133.539 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,002B8,186,80,80,81,FF
2021-08-15T00:08:53.539Z,1628986133.539 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:08:53.539Z,1628986133.539 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:08:53.541Z,1628986133.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:08:53.991Z,1628986133.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:08:54.005Z,1628986134.005 [Micromodem](INFO): Nmea in: 0.0.39330*73

2021-08-15T00:08:54.005Z,1628986134.005 [Micromodem](ERROR): Response from modem failed NMEA checksum: 0.0.39330*73
 expected 0
2021-08-15T00:08:54.341Z,1628986134.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,002B5,186,80,80,6A,FF
2021-08-15T00:08:54.342Z,1628986134.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:08:57.183Z,1628986137.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:08:57.576Z,1628986137.576 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:08:57.576Z,1628986137.576 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:08:57.577Z,1628986137.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:08:57.577Z,1628986137.577 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:08:58.005Z,1628986138.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,002B5,186,80,80,6A,FF
2021-08-15T00:08:58.005Z,1628986138.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:08:58.006Z,1628986138.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:08:58.007Z,1628986138.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:08:58.404Z,1628986138.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:08:58.785Z,1628986138.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,002B5,185,80,80,76,FF
2021-08-15T00:08:58.786Z,1628986138.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:08:59.210Z,1628986139.210 [Micromodem](INFO): Nmea in: $SNTTA,0.038509,,,,000859.23*42

2021-08-15T00:09:01.614Z,1628986141.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:09:02.097Z,1628986142.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:09:02.097Z,1628986142.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:09:02.097Z,1628986142.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:09:02.098Z,1628986142.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:09:02.429Z,1628986142.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,002B5,185,80,80,76,FF
2021-08-15T00:09:02.429Z,1628986142.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:09:02.429Z,1628986142.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:09:02.431Z,1628986142.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:09:02.829Z,1628986142.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:09:03.242Z,1628986143.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,002B4,186,80,80,BF,FF
2021-08-15T00:09:03.243Z,1628986143.243 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:09:03.661Z,1628986143.661 [Micromodem](INFO): Nmea in: $SNTTA,0.006397,,,,000903.63*44

2021-08-15T00:09:06.096Z,1628986146.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:09:06.465Z,1628986146.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:09:06.465Z,1628986146.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:09:06.465Z,1628986146.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:09:06.466Z,1628986146.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:09:06.873Z,1628986146.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,002B4,186,80,80,BF,FF
2021-08-15T00:09:06.874Z,1628986146.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:09:06.874Z,1628986146.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:09:06.876Z,1628986146.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:09:07.277Z,1628986147.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:09:07.673Z,1628986147.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F57,000,002B4,186,80,80,8A,FF
2021-08-15T00:09:07.674Z,1628986147.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:09:08.105Z,1628986148.105 [Micromodem](INFO): Nmea in: $SNTTA,0.016571,,,,000908.08*4D

2021-08-15T00:09:10.495Z,1628986150.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:09:10.905Z,1628986150.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:09:10.905Z,1628986150.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:09:10.905Z,1628986150.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:09:10.906Z,1628986150.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:09:11.279Z,1628986151.279 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F57,000,002B4,186,80,80,8A,FF
2021-08-15T00:09:11.279Z,1628986151.279 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:09:11.280Z,1628986151.280 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:09:11.282Z,1628986151.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:09:11.688Z,1628986151.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:09:12.193Z,1628986152.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,002B3,186,80,80,88,FF
2021-08-15T00:09:12.194Z,1628986152.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:09:12.197Z,1628986152.197 [Micromodem](INFO): Nmea in: $SNTTA,0.245028,0.245153,,,000912.48*55

2021-08-15T00:09:14.958Z,1628986154.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:09:15.364Z,1628986155.364 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:09:15.365Z,1628986155.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:09:15.365Z,1628986155.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:09:15.367Z,1628986155.367 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:09:15.761Z,1628986155.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,002B3,186,80,80,88,FF
2021-08-15T00:09:15.761Z,1628986155.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:09:15.761Z,1628986155.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:09:15.763Z,1628986155.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:09:16.170Z,1628986156.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:09:16.561Z,1628986156.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,002B3,187,80,80,73,FF
2021-08-15T00:09:16.561Z,1628986156.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:09:16.998Z,1628986156.998 [Micromodem](INFO): Nmea in: $SNTTA,0.006186,,,,000916.97*49

2021-08-15T00:09:19.457Z,1628986159.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:09:19.805Z,1628986159.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:09:19.805Z,1628986159.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:09:19.805Z,1628986159.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:09:19.806Z,1628986159.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:09:20.193Z,1628986160.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,002B3,187,80,80,73,FF
2021-08-15T00:09:20.193Z,1628986160.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:09:20.194Z,1628986160.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:09:20.195Z,1628986160.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:09:20.579Z,1628986160.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:09:21.009Z,1628986161.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,002B0,186,80,80,8B,FF
2021-08-15T00:09:21.010Z,1628986161.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:09:21.417Z,1628986161.417 [Micromodem](INFO): Nmea in: $SNTTA,0.021905,,,,000921.39*4F

2021-08-15T00:09:23.867Z,1628986163.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:09:24.237Z,1628986164.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:09:24.238Z,1628986164.238 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:09:24.238Z,1628986164.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:09:24.239Z,1628986164.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:09:24.649Z,1628986164.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,002B0,186,80,80,8B,FF
2021-08-15T00:09:24.649Z,1628986164.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:09:24.650Z,1628986164.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:09:24.651Z,1628986164.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:09:25.057Z,1628986165.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:09:25.449Z,1628986165.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7A,000,002AF,187,80,80,76,FF
2021-08-15T00:09:25.449Z,1628986165.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:09:25.896Z,1628986165.896 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000925.85*5D

2021-08-15T00:09:28.323Z,1628986168.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:09:28.681Z,1628986168.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:09:28.681Z,1628986168.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:09:28.681Z,1628986168.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:09:28.682Z,1628986168.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:09:29.089Z,1628986169.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7A,000,002AF,187,80,80,76,FF
2021-08-15T00:09:29.089Z,1628986169.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:09:29.089Z,1628986169.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:09:29.091Z,1628986169.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:09:29.515Z,1628986169.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:09:29.913Z,1628986169.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,002AC,187,80,80,78,FF
2021-08-15T00:09:29.914Z,1628986169.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:09:30.317Z,1628986170.317 [Micromodem](INFO): Nmea in: $SNTTA,0.018119,0.340486,,,000930.29*52

2021-08-15T00:09:32.742Z,1628986172.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:09:33.125Z,1628986173.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:09:33.125Z,1628986173.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:09:33.125Z,1628986173.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:09:33.126Z,1628986173.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:09:33.529Z,1628986173.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,002AC,187,80,80,78,FF
2021-08-15T00:09:33.529Z,1628986173.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:09:33.529Z,1628986173.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:09:33.531Z,1628986173.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:09:33.983Z,1628986173.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:09:34.345Z,1628986174.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,002AD,187,80,80,78,FF
2021-08-15T00:09:34.346Z,1628986174.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:09:34.357Z,1628986174.357 [Micromodem](INFO): Nmea in: 000935,COPROC,0.20.0.39330*74

2021-08-15T00:09:34.358Z,1628986174.358 [Micromodem](ERROR): Response from modem failed NMEA checksum: 000935,COPROC,0.20.0.39330*74
 expected 0
2021-08-15T00:09:37.195Z,1628986177.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:09:37.581Z,1628986177.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:09:37.581Z,1628986177.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:09:37.581Z,1628986177.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:09:37.582Z,1628986177.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:09:37.977Z,1628986177.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,002AD,187,80,80,78,FF
2021-08-15T00:09:37.977Z,1628986177.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:09:37.977Z,1628986177.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:09:37.979Z,1628986177.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:09:38.413Z,1628986178.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:09:38.785Z,1628986178.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,002AE,187,80,80,37,FF
2021-08-15T00:09:38.786Z,1628986178.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:09:41.625Z,1628986181.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:09:41.989Z,1628986181.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:09:41.989Z,1628986181.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:09:41.989Z,1628986181.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:09:41.990Z,1628986181.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:09:42.509Z,1628986182.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,002AE,187,80,80,37,FF
2021-08-15T00:09:42.509Z,1628986182.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:09:42.510Z,1628986182.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:09:42.512Z,1628986182.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:09:42.832Z,1628986182.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:09:43.238Z,1628986183.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,000,002AD,186,80,80,74,FF
2021-08-15T00:09:43.238Z,1628986183.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:09:44.066Z,1628986184.066 [Micromodem](INFO): Nmea in: $SNTTA,0.031918,,,,000943.71*4A

2021-08-15T00:09:46.110Z,1628986186.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:09:46.470Z,1628986186.470 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:09:46.470Z,1628986186.470 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:09:46.470Z,1628986186.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:09:46.471Z,1628986186.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:09:46.865Z,1628986186.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F71,000,002AD,186,80,80,74,FF
2021-08-15T00:09:46.865Z,1628986186.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:09:46.865Z,1628986186.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:09:46.867Z,1628986186.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:09:47.282Z,1628986187.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:09:48.102Z,1628986188.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000948.07*5C

2021-08-15T00:09:48.927Z,1628986188.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:09:50.506Z,1628986190.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,74,FF
2021-08-15T00:09:50.506Z,1628986190.506 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,74,FF
2021-08-15T00:09:50.506Z,1628986190.506 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:09:51.738Z,1628986191.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:09:52.086Z,1628986192.086 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:09:52.086Z,1628986192.086 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:09:52.087Z,1628986192.087 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:09:52.088Z,1628986192.088 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:09:52.677Z,1628986192.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,74,FF
2021-08-15T00:09:52.677Z,1628986192.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:09:52.677Z,1628986192.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:09:52.679Z,1628986192.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:09:52.942Z,1628986192.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:09:53.334Z,1628986193.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,002A9,187,80,80,8A,FF
2021-08-15T00:09:53.334Z,1628986193.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:09:53.754Z,1628986193.754 [Micromodem](INFO): Nmea in: $SNTTA,0.002033,0.322795,,,000953.88*5B

2021-08-15T00:09:56.234Z,1628986196.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:09:56.569Z,1628986196.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:09:56.569Z,1628986196.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:09:56.569Z,1628986196.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:09:56.570Z,1628986196.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:09:56.978Z,1628986196.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,002A9,187,80,80,8A,FF
2021-08-15T00:09:56.978Z,1628986196.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:09:56.979Z,1628986196.979 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:09:56.981Z,1628986196.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:09:57.399Z,1628986197.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:09:57.786Z,1628986197.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,002AB,186,80,80,6F,FF
2021-08-15T00:09:57.787Z,1628986197.787 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:09:58.197Z,1628986198.197 [Micromodem](INFO): Nmea in: $SNTTA,0.005062,,,,000958.19*4D

2021-08-15T00:10:00.647Z,1628986200.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:10:00.977Z,1628986200.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:10:00.977Z,1628986200.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:10:00.978Z,1628986200.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:10:00.978Z,1628986200.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:10:01.433Z,1628986201.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,002AB,186,80,80,6F,FF
2021-08-15T00:10:01.433Z,1628986201.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:10:01.433Z,1628986201.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:10:01.435Z,1628986201.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:10:01.800Z,1628986201.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:10:02.185Z,1628986202.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,002AB,187,80,80,82,FF
2021-08-15T00:10:02.186Z,1628986202.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:10:02.706Z,1628986202.706 [Micromodem](INFO): Nmea in: $SNTTA,0.032998,,,,001002.64*48

2021-08-15T00:10:05.062Z,1628986205.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:10:05.449Z,1628986205.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:10:05.449Z,1628986205.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:10:05.449Z,1628986205.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:10:05.450Z,1628986205.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:10:05.863Z,1628986205.863 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,002AB,187,80,80,82,FF
2021-08-15T00:10:05.864Z,1628986205.864 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:10:05.865Z,1628986205.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:10:05.871Z,1628986205.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:10:06.262Z,1628986206.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:10:06.666Z,1628986206.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,002AD,187,80,80,80,FF
2021-08-15T00:10:06.666Z,1628986206.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:10:07.489Z,1628986207.489 [Micromodem](INFO): Nmea in: $SNTTA,0.051628,,,,001007.12*4D

2021-08-15T00:10:09.525Z,1628986209.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:10:09.920Z,1628986209.920 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:10:09.920Z,1628986209.920 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:10:09.921Z,1628986209.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:10:09.922Z,1628986209.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:10:10.305Z,1628986210.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,002AD,187,80,80,80,FF
2021-08-15T00:10:10.305Z,1628986210.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:10:10.305Z,1628986210.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:10:10.307Z,1628986210.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:10:10.705Z,1628986210.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:10:11.083Z,1628986211.083 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,002AD,186,80,80,5F,FF
2021-08-15T00:10:11.083Z,1628986211.083 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:10:11.533Z,1628986211.533 [Micromodem](INFO): Nmea in: $SNTTA,0.076733,,,,001011.51*43

2021-08-15T00:10:13.618Z,1628986213.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:10:13.959Z,1628986213.959 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:10:13.959Z,1628986213.959 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:10:13.959Z,1628986213.959 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:10:13.960Z,1628986213.960 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:10:14.341Z,1628986214.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,002AD,186,80,80,5F,FF
2021-08-15T00:10:14.341Z,1628986214.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:10:14.341Z,1628986214.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:10:14.343Z,1628986214.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:10:14.744Z,1628986214.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:10:15.149Z,1628986215.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,002A9,187,80,80,66,FF
2021-08-15T00:10:15.150Z,1628986215.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:10:15.577Z,1628986215.577 [Micromodem](INFO): Nmea in: $SNTTA,0.018004,,,,001015.54*49

2021-08-15T00:10:18.019Z,1628986218.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:10:18.385Z,1628986218.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:10:18.385Z,1628986218.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:10:18.386Z,1628986218.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:10:18.386Z,1628986218.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:10:18.776Z,1628986218.776 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,002A9,187,80,80,66,FF
2021-08-15T00:10:18.777Z,1628986218.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:10:18.777Z,1628986218.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:10:18.779Z,1628986218.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:10:19.197Z,1628986219.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:10:19.601Z,1628986219.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,002AB,187,80,80,78,FF
2021-08-15T00:10:19.601Z,1628986219.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:10:20.030Z,1628986220.030 [Micromodem](INFO): Nmea in: $SNTTA,0.457686,,,,001019.98*46

2021-08-15T00:10:22.441Z,1628986222.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:10:22.901Z,1628986222.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:10:22.901Z,1628986222.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:10:22.901Z,1628986222.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:10:22.902Z,1628986222.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:10:23.229Z,1628986223.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,002AB,187,80,80,78,FF
2021-08-15T00:10:23.229Z,1628986223.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:10:23.230Z,1628986223.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:10:23.232Z,1628986223.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:10:23.633Z,1628986223.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:10:24.038Z,1628986224.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,002AB,186,80,80,72,FF
2021-08-15T00:10:24.038Z,1628986224.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:10:24.041Z,1628986224.041 [Micromodem](INFO): Nmea in: $SNTTA,0.035775,0.268567,,,001024.44*52

2021-08-15T00:10:26.883Z,1628986226.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:10:27.277Z,1628986227.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:10:27.277Z,1628986227.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:10:27.277Z,1628986227.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:10:27.278Z,1628986227.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:10:27.685Z,1628986227.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,002AB,186,80,80,72,FF
2021-08-15T00:10:27.686Z,1628986227.686 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:10:27.687Z,1628986227.687 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:10:27.691Z,1628986227.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:10:28.083Z,1628986228.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:10:28.477Z,1628986228.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,002A9,187,80,80,6E,FF
2021-08-15T00:10:28.478Z,1628986228.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:10:28.917Z,1628986228.917 [Micromodem](INFO): Nmea in: $SNTTA,0.085504,,,,001028.89*46

2021-08-15T00:10:31.295Z,1628986231.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:10:31.721Z,1628986231.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:10:31.721Z,1628986231.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:10:31.721Z,1628986231.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:10:31.722Z,1628986231.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:10:32.087Z,1628986232.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,002A9,187,80,80,6E,FF
2021-08-15T00:10:32.087Z,1628986232.087 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:10:32.087Z,1628986232.087 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:10:32.089Z,1628986232.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:10:32.495Z,1628986232.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:10:32.997Z,1628986232.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,002A7,187,80,80,7B,FF
2021-08-15T00:10:32.998Z,1628986232.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:10:33.354Z,1628986233.354 [Micromodem](INFO): Nmea in: $SNTTA,0.019729,,,,001033.29*4E

2021-08-15T00:10:35.763Z,1628986235.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:10:36.161Z,1628986236.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:10:36.161Z,1628986236.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:10:36.161Z,1628986236.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:10:36.162Z,1628986236.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:10:36.557Z,1628986236.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,002A7,187,80,80,7B,FF
2021-08-15T00:10:36.557Z,1628986236.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:10:36.557Z,1628986236.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:10:36.559Z,1628986236.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:10:36.973Z,1628986236.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:10:37.365Z,1628986237.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,342,000,002A8,189,80,80,5C,FF
2021-08-15T00:10:37.366Z,1628986237.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:10:37.805Z,1628986237.805 [Micromodem](INFO): Nmea in: $SNTTA,0.034063,,,,001037.76*46

2021-08-15T00:10:40.226Z,1628986240.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:10:40.602Z,1628986240.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:10:40.602Z,1628986240.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:10:40.602Z,1628986240.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:10:40.603Z,1628986240.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:10:41.005Z,1628986241.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
342,000,002A8,189,80,80,5C,FF
2021-08-15T00:10:41.005Z,1628986241.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:10:41.005Z,1628986241.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:10:41.007Z,1628986241.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:10:41.381Z,1628986241.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:10:41.809Z,1628986241.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,002A6,187,80,80,63,FF
2021-08-15T00:10:41.810Z,1628986241.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:10:42.213Z,1628986242.213 [Micromodem](INFO): Nmea in: $SNTTA,0.343060,,,,001042.21*46

2021-08-15T00:10:44.670Z,1628986244.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:10:45.048Z,1628986245.048 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:10:45.049Z,1628986245.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:10:45.049Z,1628986245.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:10:45.050Z,1628986245.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:10:45.449Z,1628986245.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,002A6,187,80,80,63,FF
2021-08-15T00:10:45.449Z,1628986245.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:10:45.449Z,1628986245.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:10:45.451Z,1628986245.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:10:45.863Z,1628986245.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:10:45.884Z,1628986245.884 [Micromodem](INFO): Nmea in: 35,,,001046.65*58

2021-08-15T00:10:45.886Z,1628986245.886 [Micromodem](ERROR): Response from modem failed NMEA checksum: 35,,,001046.65*58
 expected 0
2021-08-15T00:10:46.258Z,1628986246.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F74,000,002A9,186,80,80,81,FF
2021-08-15T00:10:46.258Z,1628986246.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:10:49.103Z,1628986249.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:10:49.489Z,1628986249.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:10:49.489Z,1628986249.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:10:49.489Z,1628986249.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:10:49.490Z,1628986249.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:10:49.921Z,1628986249.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F74,000,002A9,186,80,80,81,FF
2021-08-15T00:10:49.921Z,1628986249.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:10:49.921Z,1628986249.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:10:49.926Z,1628986249.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:10:50.304Z,1628986250.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:10:50.709Z,1628986250.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,002A9,187,80,80,74,FF
2021-08-15T00:10:50.710Z,1628986250.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:10:51.131Z,1628986251.131 [Micromodem](INFO): Nmea in: $SNTTA,0.022934,,,,001051.13*49

2021-08-15T00:10:53.554Z,1628986253.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:10:53.961Z,1628986253.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:10:53.961Z,1628986253.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:10:53.961Z,1628986253.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:10:53.962Z,1628986253.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:10:54.337Z,1628986254.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,002A9,187,80,80,74,FF
2021-08-15T00:10:54.337Z,1628986254.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:10:54.337Z,1628986254.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:10:54.339Z,1628986254.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:10:54.749Z,1628986254.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:10:55.145Z,1628986255.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,002A7,187,80,80,6B,FF
2021-08-15T00:10:55.146Z,1628986255.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:10:55.589Z,1628986255.589 [Micromodem](INFO): Nmea in: $SNTTA,0.036620,,,,001055.54*41

2021-08-15T00:10:58.015Z,1628986258.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:10:58.377Z,1628986258.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:10:58.377Z,1628986258.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:10:58.377Z,1628986258.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:10:58.378Z,1628986258.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:10:58.781Z,1628986258.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,002A7,187,80,80,6B,FF
2021-08-15T00:10:58.781Z,1628986258.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:10:58.781Z,1628986258.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:10:58.783Z,1628986258.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:10:59.195Z,1628986259.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:10:59.608Z,1628986259.608 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF8,000,002A7,187,80,80,5D,FF
2021-08-15T00:10:59.609Z,1628986259.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:11:00.017Z,1628986260.017 [Micromodem](INFO): Nmea in: $SNTTA,0.454996,0.455115,,,001059.98*50

2021-08-15T00:11:02.403Z,1628986262.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:11:02.801Z,1628986262.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:11:02.801Z,1628986262.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:11:02.801Z,1628986262.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:11:02.802Z,1628986262.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:11:03.301Z,1628986263.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF8,000,002A7,187,80,80,5D,FF
2021-08-15T00:11:03.301Z,1628986263.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:11:03.301Z,1628986263.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:11:03.303Z,1628986263.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:11:03.638Z,1628986263.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:11:04.049Z,1628986264.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE3,000,002A5,189,80,80,4D,FF
2021-08-15T00:11:04.050Z,1628986264.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:11:04.053Z,1628986264.053 [Micromodem](INFO): Nmea in: $SNTTA,0.001746,0.235290,,,001104.50*54

2021-08-15T00:11:06.889Z,1628986266.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:11:07.274Z,1628986267.274 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:11:07.274Z,1628986267.274 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:11:07.275Z,1628986267.275 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:11:07.275Z,1628986267.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:11:07.689Z,1628986267.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE3,000,002A5,189,80,80,4D,FF
2021-08-15T00:11:07.689Z,1628986267.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:11:07.689Z,1628986267.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:11:07.691Z,1628986267.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:11:08.089Z,1628986268.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:11:08.497Z,1628986268.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,002A5,186,80,80,74,FF
2021-08-15T00:11:08.498Z,1628986268.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:11:08.909Z,1628986268.909 [Micromodem](INFO): Nmea in: $SNTTA,0.008559,,,,001108.89*48

2021-08-15T00:11:11.323Z,1628986271.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:11:11.683Z,1628986271.683 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:11:11.684Z,1628986271.684 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:11:11.684Z,1628986271.684 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:11:11.685Z,1628986271.685 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:11:12.125Z,1628986272.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,002A5,186,80,80,74,FF
2021-08-15T00:11:12.125Z,1628986272.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:11:12.125Z,1628986272.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:11:12.127Z,1628986272.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:11:12.521Z,1628986272.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:11:12.889Z,1628986272.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F57,000,002A4,187,80,80,5C,FF
2021-08-15T00:11:12.890Z,1628986272.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:11:13.418Z,1628986273.418 [Micromodem](INFO): Nmea in: $SNTTA,0.451409,0.451315,,,001113.33*56

2021-08-15T00:11:15.795Z,1628986275.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:11:16.153Z,1628986276.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:11:16.153Z,1628986276.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:11:16.153Z,1628986276.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:11:16.154Z,1628986276.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:11:16.562Z,1628986276.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F57,000,002A4,187,80,80,5C,FF
2021-08-15T00:11:16.562Z,1628986276.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:11:16.562Z,1628986276.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:11:16.566Z,1628986276.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:11:16.973Z,1628986276.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:11:17.366Z,1628986277.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C3A,000,002A2,189,80,80,43,FF
2021-08-15T00:11:17.366Z,1628986277.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:11:17.806Z,1628986277.806 [Micromodem](INFO): Nmea in: $SNTTA,0.005683,,,,001117.77*4E

2021-08-15T00:11:20.236Z,1628986280.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:11:20.592Z,1628986280.592 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:11:20.592Z,1628986280.592 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:11:20.593Z,1628986280.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:11:20.594Z,1628986280.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:11:21.001Z,1628986281.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C3A,000,002A2,189,80,80,43,FF
2021-08-15T00:11:21.001Z,1628986281.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:11:21.002Z,1628986281.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:11:21.003Z,1628986281.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:11:21.423Z,1628986281.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:11:21.779Z,1628986281.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,002A2,187,80,80,4E,FF
2021-08-15T00:11:21.779Z,1628986281.779 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:11:22.222Z,1628986282.222 [Micromodem](INFO): Nmea in: $SNTTA,0.004613,0.382660,,,001122.21*54

2021-08-15T00:11:24.306Z,1628986284.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:11:24.670Z,1628986284.670 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:11:24.670Z,1628986284.670 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:11:24.670Z,1628986284.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:11:24.670Z,1628986284.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:11:25.045Z,1628986285.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,002A2,187,80,80,4E,FF
2021-08-15T00:11:25.045Z,1628986285.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:11:25.045Z,1628986285.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:11:25.047Z,1628986285.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:11:25.454Z,1628986285.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:11:25.849Z,1628986285.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,0029F,187,80,80,78,FF
2021-08-15T00:11:25.850Z,1628986285.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:11:26.266Z,1628986286.266 [Micromodem](INFO): Nmea in: $SNTTA,0.074458,0.322013,,,001126.25*56

2021-08-15T00:11:28.706Z,1628986288.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:11:29.081Z,1628986289.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:11:29.081Z,1628986289.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:11:29.081Z,1628986289.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:11:29.082Z,1628986289.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:11:29.517Z,1628986289.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,0029F,187,80,80,78,FF
2021-08-15T00:11:29.517Z,1628986289.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:11:29.517Z,1628986289.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:11:29.519Z,1628986289.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:11:29.922Z,1628986289.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:11:30.301Z,1628986290.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,0029F,186,80,80,6A,FF
2021-08-15T00:11:30.301Z,1628986290.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:11:33.105Z,1628986293.105 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T00:11:33.105Z,1628986293.105 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T00:11:33.105Z,1628986293.105 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T00:11:33.105Z,1628986293.105 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T00:11:33.105Z,1628986293.105 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T00:11:33.106Z,1628986293.106 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.759999 m 
2021-08-15T00:11:33.106Z,1628986293.106 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T00:11:33.106Z,1628986293.106 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T00:11:33.106Z,1628986293.106 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T00:11:33.107Z,1628986293.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:11:33.614Z,1628986293.614 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:11:33.614Z,1628986293.614 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:11:33.614Z,1628986293.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:11:33.615Z,1628986293.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:11:33.674Z,1628986293.674 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T001133: (41.552319, -70.708603)
2021-08-15T00:11:33.674Z,1628986293.674 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T00:11:33.674Z,1628986293.674 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T00:11:33.674Z,1628986293.674 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T00:11:33.675Z,1628986293.675 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T00:11:33.675Z,1628986293.675 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T00:11:33.675Z,1628986293.675 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T00:11:33.675Z,1628986293.675 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T00:11:33.675Z,1628986293.675 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T00:11:33.961Z,1628986293.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,0029F,186,80,80,6A,FF
2021-08-15T00:11:33.961Z,1628986293.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:11:33.961Z,1628986293.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:11:33.963Z,1628986293.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:11:34.341Z,1628986294.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:11:34.737Z,1628986294.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,0029B,187,80,80,53,FF
2021-08-15T00:11:34.737Z,1628986294.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:11:35.163Z,1628986295.163 [Micromodem](INFO): Nmea in: $SNTTA,0.448641,,,,001135.17*4B

2021-08-15T00:11:37.597Z,1628986297.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:11:37.973Z,1628986297.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:11:37.973Z,1628986297.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:11:37.973Z,1628986297.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:11:37.974Z,1628986297.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:11:38.373Z,1628986298.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,0029B,187,80,80,53,FF
2021-08-15T00:11:38.373Z,1628986298.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:11:38.373Z,1628986298.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:11:38.375Z,1628986298.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:11:38.785Z,1628986298.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:11:39.181Z,1628986299.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,0029F,187,80,80,83,FF
2021-08-15T00:11:39.182Z,1628986299.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:11:39.649Z,1628986299.649 [Micromodem](INFO): Nmea in: $SNTTA,0.001497,,,,001139.58*4C

2021-08-15T00:11:42.027Z,1628986302.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:11:42.413Z,1628986302.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:11:42.413Z,1628986302.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:11:42.413Z,1628986302.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:11:42.414Z,1628986302.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:11:42.789Z,1628986302.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,0029F,187,80,80,83,FF
2021-08-15T00:11:42.790Z,1628986302.790 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:11:42.790Z,1628986302.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:11:42.791Z,1628986302.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:11:43.217Z,1628986303.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:11:43.705Z,1628986303.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E2,000,0029E,186,80,80,8E,FF
2021-08-15T00:11:43.706Z,1628986303.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:11:44.045Z,1628986304.045 [Micromodem](INFO): Nmea in: $SNTTA,0.448947,0.449060,,,001144.00*53

2021-08-15T00:11:46.503Z,1628986306.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:11:46.861Z,1628986306.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:11:46.861Z,1628986306.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:11:46.861Z,1628986306.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:11:46.862Z,1628986306.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:11:47.262Z,1628986307.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E2,000,0029E,186,80,80,8E,FF
2021-08-15T00:11:47.262Z,1628986307.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:11:47.262Z,1628986307.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:11:47.269Z,1628986307.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:11:47.669Z,1628986307.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:11:48.073Z,1628986308.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,0029F,186,80,80,57,FF
2021-08-15T00:11:48.073Z,1628986308.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:11:48.077Z,1628986308.077 [Micromodem](INFO): Nmea in: $SNTTA,0.043986,0.251978,,,001148.47*51

2021-08-15T00:11:50.904Z,1628986310.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:11:51.305Z,1628986311.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:11:51.305Z,1628986311.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:11:51.305Z,1628986311.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:11:51.306Z,1628986311.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:11:51.706Z,1628986311.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,0029F,186,80,80,57,FF
2021-08-15T00:11:51.706Z,1628986311.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:11:51.706Z,1628986311.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:11:51.708Z,1628986311.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:11:52.087Z,1628986312.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:11:52.521Z,1628986312.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,0029C,187,80,80,58,FF
2021-08-15T00:11:52.521Z,1628986312.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:11:52.919Z,1628986312.919 [Micromodem](INFO): Nmea in: $SNTTA,0.004935,,,,001152.91*44

2021-08-15T00:11:55.419Z,1628986315.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:11:55.738Z,1628986315.738 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:11:55.738Z,1628986315.738 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:11:55.739Z,1628986315.739 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:11:55.740Z,1628986315.740 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:11:56.149Z,1628986316.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,0029C,187,80,80,58,FF
2021-08-15T00:11:56.149Z,1628986316.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:11:56.149Z,1628986316.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:11:56.151Z,1628986316.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:11:56.557Z,1628986316.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:11:56.961Z,1628986316.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,002A0,187,80,80,5C,FF
2021-08-15T00:11:56.962Z,1628986316.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:11:57.403Z,1628986317.403 [Micromodem](INFO): Nmea in: $SNTTA,0.006700,,,,001157.36*46

2021-08-15T00:11:57.427Z,1628986317.427 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-15T00:06:57.1Z
2021-08-15T00:11:57.427Z,1628986317.427 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-15T00:11:57.427Z,1628986317.427 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-15T00:11:57.428Z,1628986317.428 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-15T00:11:57.428Z,1628986317.428 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-15T00:11:57.782Z,1628986317.782 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 2.819999 m .
2021-08-15T00:11:57.782Z,1628986317.782 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-15T00:11:57.782Z,1628986317.782 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-15T00:11:57.782Z,1628986317.782 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-15T00:11:57.782Z,1628986317.782 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T00:11:58.569Z,1628986318.569 [PowerOnly](INFO): Powering up loadControl
2021-08-15T00:11:59.819Z,1628986319.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:12:00.189Z,1628986320.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:12:00.189Z,1628986320.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:12:00.189Z,1628986320.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:12:00.190Z,1628986320.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:12:00.593Z,1628986320.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,002A0,187,80,80,5C,FF
2021-08-15T00:12:00.594Z,1628986320.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:12:00.594Z,1628986320.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:12:00.595Z,1628986320.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:12:01.010Z,1628986321.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:12:01.401Z,1628986321.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,0029B,187,80,80,4E,FF
2021-08-15T00:12:01.401Z,1628986321.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:12:01.872Z,1628986321.872 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001201.80*54

2021-08-15T00:12:01.949Z,1628986321.949 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-15T00:12:02.279Z,1628986322.279 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-15T00:12:04.318Z,1628986324.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:12:04.642Z,1628986324.642 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:12:04.642Z,1628986324.642 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:12:04.667Z,1628986324.667 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:12:04.668Z,1628986324.668 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:12:05.041Z,1628986325.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,0029B,187,80,80,4E,FF
2021-08-15T00:12:05.041Z,1628986325.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:12:05.042Z,1628986325.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:12:05.043Z,1628986325.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:12:05.452Z,1628986325.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:12:05.846Z,1628986325.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,0029C,186,80,80,6B,FF
2021-08-15T00:12:05.846Z,1628986325.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:12:06.289Z,1628986326.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001206.25*5C

2021-08-15T00:12:08.708Z,1628986328.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:12:09.077Z,1628986329.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:12:09.077Z,1628986329.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:12:09.077Z,1628986329.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:12:09.078Z,1628986329.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:12:09.481Z,1628986329.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,0029C,186,80,80,6B,FF
2021-08-15T00:12:09.481Z,1628986329.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:12:09.481Z,1628986329.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:12:09.483Z,1628986329.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:12:09.926Z,1628986329.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:12:10.297Z,1628986330.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,0029D,187,80,80,82,FF
2021-08-15T00:12:10.298Z,1628986330.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:12:10.737Z,1628986330.737 [Micromodem](INFO): Nmea in: $SNTTA,0.004913,,,,001210.69*42

2021-08-15T00:12:12.354Z,1628986332.354 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-15T00:12:13.172Z,1628986333.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:12:13.521Z,1628986333.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:12:13.521Z,1628986333.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:12:13.521Z,1628986333.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:12:13.522Z,1628986333.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:12:13.969Z,1628986333.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,0029D,187,80,80,82,FF
2021-08-15T00:12:13.970Z,1628986333.970 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:12:13.970Z,1628986333.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:12:13.972Z,1628986333.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:12:14.341Z,1628986334.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:12:15.141Z,1628986335.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001215.18*50

2021-08-15T00:12:16.008Z,1628986336.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:12:17.569Z,1628986337.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,82,FF
2021-08-15T00:12:17.569Z,1628986337.569 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,82,FF
2021-08-15T00:12:17.569Z,1628986337.569 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:12:18.781Z,1628986338.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:12:19.177Z,1628986339.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:12:19.177Z,1628986339.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:12:19.177Z,1628986339.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:12:19.178Z,1628986339.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:12:19.590Z,1628986339.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,82,FF
2021-08-15T00:12:19.590Z,1628986339.590 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:12:19.590Z,1628986339.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:12:19.592Z,1628986339.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:12:20.019Z,1628986340.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:12:20.405Z,1628986340.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,002BD,183,80,80,A9,FF
2021-08-15T00:12:20.406Z,1628986340.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:12:20.829Z,1628986340.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001220.79*51

2021-08-15T00:12:23.278Z,1628986343.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:12:23.625Z,1628986343.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:12:23.625Z,1628986343.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:12:23.625Z,1628986343.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:12:23.626Z,1628986343.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:12:24.038Z,1628986344.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,002BD,183,80,80,A9,FF
2021-08-15T00:12:24.038Z,1628986344.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:12:24.038Z,1628986344.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:12:24.040Z,1628986344.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:12:24.460Z,1628986344.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:12:24.833Z,1628986344.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,002C9,184,80,80,B6,FF
2021-08-15T00:12:24.833Z,1628986344.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:12:25.266Z,1628986345.266 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001225.24*5C

2021-08-15T00:12:27.675Z,1628986347.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:12:28.069Z,1628986348.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:12:28.069Z,1628986348.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:12:28.069Z,1628986348.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:12:28.070Z,1628986348.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:12:28.468Z,1628986348.468 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,002C9,184,80,80,B6,FF
2021-08-15T00:12:28.469Z,1628986348.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:12:28.469Z,1628986348.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:12:28.471Z,1628986348.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:12:28.885Z,1628986348.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:12:29.281Z,1628986349.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,002D8,185,80,80,C4,FF
2021-08-15T00:12:29.282Z,1628986349.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:12:29.745Z,1628986349.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001229.67*57

2021-08-15T00:12:32.159Z,1628986352.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:12:32.540Z,1628986352.540 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:12:32.541Z,1628986352.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:12:32.541Z,1628986352.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:12:32.542Z,1628986352.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:12:32.922Z,1628986352.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,002D8,185,80,80,C4,FF
2021-08-15T00:12:32.922Z,1628986352.922 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:12:32.922Z,1628986352.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:12:32.924Z,1628986352.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:12:33.331Z,1628986353.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:12:33.733Z,1628986353.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,002DE,184,80,80,B8,FF
2021-08-15T00:12:33.733Z,1628986353.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:12:34.161Z,1628986354.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001234.13*58

2021-08-15T00:12:36.572Z,1628986356.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:12:36.962Z,1628986356.962 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:12:36.963Z,1628986356.963 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:12:36.963Z,1628986356.963 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:12:36.980Z,1628986356.980 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:12:37.354Z,1628986357.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,002DE,184,80,80,B8,FF
2021-08-15T00:12:37.354Z,1628986357.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:12:37.354Z,1628986357.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:12:37.356Z,1628986357.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:12:37.775Z,1628986357.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:12:38.165Z,1628986358.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,002EC,186,80,80,9C,FF
2021-08-15T00:12:38.166Z,1628986358.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:12:38.602Z,1628986358.602 [Micromodem](INFO): Nmea in: $SNTTA,0.031108,,,,001238.56*40

2021-08-15T00:12:41.041Z,1628986361.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:12:41.397Z,1628986361.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:12:41.397Z,1628986361.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:12:41.397Z,1628986361.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:12:41.398Z,1628986361.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:12:41.802Z,1628986361.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,002EC,186,80,80,9C,FF
2021-08-15T00:12:41.802Z,1628986361.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:12:41.802Z,1628986361.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:12:41.805Z,1628986361.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:12:42.209Z,1628986362.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:12:42.614Z,1628986362.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,00304,187,80,80,9A,FF
2021-08-15T00:12:42.614Z,1628986362.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:12:43.041Z,1628986363.041 [Micromodem](INFO): Nmea in: $SNTTA,0.023060,,,,001243.01*42

2021-08-15T00:12:45.459Z,1628986365.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:12:45.844Z,1628986365.844 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:12:45.844Z,1628986365.844 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:12:45.845Z,1628986365.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:12:45.846Z,1628986365.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:12:46.246Z,1628986366.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,00304,187,80,80,9A,FF
2021-08-15T00:12:46.246Z,1628986366.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:12:46.246Z,1628986366.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:12:46.261Z,1628986366.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:12:46.668Z,1628986366.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:12:47.053Z,1628986367.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,0030C,186,80,80,68,FF
2021-08-15T00:12:47.054Z,1628986367.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:12:47.501Z,1628986367.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001247.46*5C

2021-08-15T00:12:50.003Z,1628986370.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:12:50.297Z,1628986370.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:12:50.297Z,1628986370.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:12:50.297Z,1628986370.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:12:50.298Z,1628986370.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:12:50.694Z,1628986370.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,0030C,186,80,80,68,FF
2021-08-15T00:12:50.694Z,1628986370.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:12:50.694Z,1628986370.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:12:50.696Z,1628986370.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:12:51.105Z,1628986371.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:12:51.501Z,1628986371.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,00317,186,80,80,7C,FF
2021-08-15T00:12:51.501Z,1628986371.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:12:51.950Z,1628986371.950 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001251.90*50

2021-08-15T00:12:54.035Z,1628986374.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:12:54.361Z,1628986374.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:12:54.361Z,1628986374.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:12:54.361Z,1628986374.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:12:54.362Z,1628986374.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:12:54.737Z,1628986374.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,00317,186,80,80,7C,FF
2021-08-15T00:12:54.737Z,1628986374.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:12:54.738Z,1628986374.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:12:54.739Z,1628986374.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:12:55.130Z,1628986375.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:12:55.542Z,1628986375.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,00313,186,80,80,9A,FF
2021-08-15T00:12:55.542Z,1628986375.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:12:55.998Z,1628986375.998 [Micromodem](INFO): Nmea in: $SNTTA,0.227550,,,,001255.94*49

2021-08-15T00:12:58.386Z,1628986378.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:12:58.777Z,1628986378.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:12:58.777Z,1628986378.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:12:58.777Z,1628986378.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:12:58.778Z,1628986378.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:12:59.177Z,1628986379.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,00313,186,80,80,9A,FF
2021-08-15T00:12:59.177Z,1628986379.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:12:59.178Z,1628986379.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:12:59.179Z,1628986379.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:12:59.584Z,1628986379.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:12:59.997Z,1628986379.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,0032A,186,80,80,95,FF
2021-08-15T00:12:59.997Z,1628986379.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:13:00.426Z,1628986380.426 [Micromodem](INFO): Nmea in: $SNTTA,0.037806,,,,001300.38*43

2021-08-15T00:13:00.445Z,1628986380.445 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-15T00:13:02.835Z,1628986382.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:13:03.240Z,1628986383.240 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:13:03.240Z,1628986383.240 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:13:03.240Z,1628986383.240 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:13:03.241Z,1628986383.241 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:13:03.621Z,1628986383.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,0032A,186,80,80,95,FF
2021-08-15T00:13:03.621Z,1628986383.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:13:03.621Z,1628986383.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:13:03.623Z,1628986383.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:13:04.037Z,1628986384.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:13:04.429Z,1628986384.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A6,000,00332,186,80,80,A8,FF
2021-08-15T00:13:04.429Z,1628986384.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:13:04.870Z,1628986384.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001304.83*53

2021-08-15T00:13:07.324Z,1628986387.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:13:07.661Z,1628986387.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:13:07.661Z,1628986387.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:13:07.661Z,1628986387.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:13:07.662Z,1628986387.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:13:08.065Z,1628986388.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A6,000,00332,186,80,80,A8,FF
2021-08-15T00:13:08.065Z,1628986388.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:13:08.065Z,1628986388.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:13:08.067Z,1628986388.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:13:08.481Z,1628986388.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:13:08.873Z,1628986388.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,0033C,186,80,80,9F,FF
2021-08-15T00:13:08.874Z,1628986388.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:13:09.314Z,1628986389.314 [Micromodem](INFO): Nmea in: $SNTTA,0.040928,,,,001309.27*49

2021-08-15T00:13:11.723Z,1628986391.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:13:12.101Z,1628986392.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:13:12.101Z,1628986392.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:13:12.101Z,1628986392.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:13:12.102Z,1628986392.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:13:12.509Z,1628986392.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,0033C,186,80,80,9F,FF
2021-08-15T00:13:12.509Z,1628986392.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:13:12.510Z,1628986392.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:13:12.511Z,1628986392.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:13:12.913Z,1628986392.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:13:13.318Z,1628986393.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D3,000,00343,186,80,80,8E,FF
2021-08-15T00:13:13.318Z,1628986393.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:13:13.758Z,1628986393.758 [Micromodem](INFO): Nmea in: $SNTTA,0.023349,,,,001313.71*49

2021-08-15T00:13:16.210Z,1628986396.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:13:16.549Z,1628986396.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:13:16.549Z,1628986396.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:13:16.549Z,1628986396.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:13:16.550Z,1628986396.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:13:16.953Z,1628986396.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D3,000,00343,186,80,80,8E,FF
2021-08-15T00:13:16.953Z,1628986396.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:13:16.953Z,1628986396.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:13:16.955Z,1628986396.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:13:17.365Z,1628986397.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:13:17.761Z,1628986397.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,00345,186,80,80,90,FF
2021-08-15T00:13:17.762Z,1628986397.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:13:18.194Z,1628986398.194 [Micromodem](INFO): Nmea in: $SNTTA,0.041175,,,,001318.16*4A

2021-08-15T00:13:20.645Z,1628986400.645 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 12.72 m. Transitioning DDM to standby.
2021-08-15T00:13:20.646Z,1628986400.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:13:20.993Z,1628986400.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:13:20.993Z,1628986400.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:13:20.993Z,1628986400.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:13:20.994Z,1628986400.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:13:21.401Z,1628986401.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,00345,186,80,80,90,FF
2021-08-15T00:13:21.401Z,1628986401.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:13:21.401Z,1628986401.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:13:21.403Z,1628986401.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:13:21.805Z,1628986401.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:13:22.210Z,1628986402.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,00356,186,80,80,7A,FF
2021-08-15T00:13:22.210Z,1628986402.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:13:22.657Z,1628986402.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001322.61*5B

2021-08-15T00:13:23.089Z,1628986403.089 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-08-15T00:13:23.445Z,1628986403.445 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-08-15T00:13:23.445Z,1628986403.445 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-15T00:13:23.445Z,1628986403.445 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-08-15T00:13:23.445Z,1628986403.445 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-15T00:13:23.446Z,1628986403.446 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-15T00:13:23.446Z,1628986403.446 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-08-15T00:13:23.446Z,1628986403.446 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-15T00:13:23.446Z,1628986403.446 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-15T00:13:23.446Z,1628986403.446 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-08-15T00:13:23.446Z,1628986403.446 [lineCaptureDepth:Lap] Stopped
2021-08-15T00:13:23.446Z,1628986403.446 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-15T00:13:23.447Z,1628986403.447 [lineCaptureDepth:Lap](INFO): Running loop #2
2021-08-15T00:13:23.447Z,1628986403.447 [lineCaptureDepth:Lap] Running Loop=2
2021-08-15T00:13:23.447Z,1628986403.447 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-15T00:13:23.447Z,1628986403.447 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-15T00:13:23.821Z,1628986403.821 [lineCaptureDepth:Lap:A] Stopped
2021-08-15T00:13:23.821Z,1628986403.821 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-15T00:13:23.822Z,1628986403.822 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-15T00:13:24.320Z,1628986404.320 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-15T00:13:24.321Z,1628986404.321 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-15T00:13:24.321Z,1628986404.321 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-15T00:13:24.321Z,1628986404.321 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-15T00:13:24.321Z,1628986404.321 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T00:13:24.321Z,1628986404.321 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-15T00:13:24.321Z,1628986404.321 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T00:13:24.321Z,1628986404.321 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-15T00:13:24.321Z,1628986404.321 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T00:13:24.322Z,1628986404.322 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-15T00:13:24.322Z,1628986404.322 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-15T00:13:24.322Z,1628986404.322 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-15T00:13:24.322Z,1628986404.322 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T00:13:24.322Z,1628986404.322 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T00:13:24.322Z,1628986404.322 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T00:13:24.322Z,1628986404.322 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T00:13:24.322Z,1628986404.322 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T00:13:24.322Z,1628986404.322 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T00:13:24.322Z,1628986404.322 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T00:13:24.323Z,1628986404.323 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-15T00:13:24.323Z,1628986404.323 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T00:13:24.323Z,1628986404.323 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T00:13:24.323Z,1628986404.323 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T00:13:24.323Z,1628986404.323 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T00:13:24.323Z,1628986404.323 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T00:13:24.323Z,1628986404.323 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T00:13:24.323Z,1628986404.323 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T00:13:24.329Z,1628986404.329 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-15T00:13:24.329Z,1628986404.329 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-15T00:13:24.638Z,1628986404.638 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-15T00:13:24.638Z,1628986404.638 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-15T00:13:25.015Z,1628986405.015 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-15T00:13:25.015Z,1628986405.015 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-15T00:13:25.016Z,1628986405.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:13:25.413Z,1628986405.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:13:25.413Z,1628986405.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:13:25.413Z,1628986405.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:13:25.414Z,1628986405.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:13:25.449Z,1628986405.449 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-15T00:13:25.449Z,1628986405.449 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-15T00:13:25.813Z,1628986405.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,00356,186,80,80,7A,FF
2021-08-15T00:13:25.813Z,1628986405.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:13:25.813Z,1628986405.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:13:25.815Z,1628986405.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:13:25.930Z,1628986405.930 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-15T00:13:25.931Z,1628986405.931 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-15T00:13:25.931Z,1628986405.931 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-15T00:13:25.931Z,1628986405.931 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-15T00:13:25.931Z,1628986405.931 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T00:13:25.931Z,1628986405.931 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-15T00:13:25.931Z,1628986405.931 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T00:13:25.931Z,1628986405.931 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-15T00:13:25.934Z,1628986405.934 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-15T00:13:25.934Z,1628986405.934 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T00:13:25.935Z,1628986405.935 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T00:13:25.935Z,1628986405.935 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T00:13:25.935Z,1628986405.935 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-15T00:13:25.935Z,1628986405.935 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T00:13:25.935Z,1628986405.935 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T00:13:25.935Z,1628986405.935 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-15T00:13:25.940Z,1628986405.940 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T00:13:25.940Z,1628986405.940 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-15T00:13:25.940Z,1628986405.940 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-15T00:13:25.940Z,1628986405.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T00:13:25.940Z,1628986405.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T00:13:25.941Z,1628986405.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-15T00:13:25.941Z,1628986405.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T00:13:25.941Z,1628986405.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T00:13:25.941Z,1628986405.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-15T00:13:25.941Z,1628986405.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T00:13:25.941Z,1628986405.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T00:13:25.941Z,1628986405.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-15T00:13:26.235Z,1628986406.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:13:26.340Z,1628986406.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-15T00:13:26.340Z,1628986406.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T00:13:26.340Z,1628986406.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-15T00:13:26.340Z,1628986406.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T00:13:26.341Z,1628986406.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-15T00:13:26.341Z,1628986406.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-15T00:13:26.341Z,1628986406.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-15T00:13:26.341Z,1628986406.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-15T00:13:26.341Z,1628986406.341 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-15T00:13:26.341Z,1628986406.341 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T00:13:26.341Z,1628986406.341 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-15T00:13:26.341Z,1628986406.341 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T00:13:26.341Z,1628986406.341 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-15T00:13:26.341Z,1628986406.341 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-15T00:13:26.341Z,1628986406.341 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-15T00:13:26.341Z,1628986406.341 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-15T00:13:26.621Z,1628986406.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,00359,186,80,80,A2,FF
2021-08-15T00:13:26.622Z,1628986406.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:13:27.141Z,1628986407.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001327.02*5B

2021-08-15T00:13:29.130Z,1628986409.130 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-15T00:13:29.499Z,1628986409.499 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-15T00:13:29.501Z,1628986409.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:13:29.892Z,1628986409.892 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:13:29.892Z,1628986409.892 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:13:29.893Z,1628986409.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:13:29.894Z,1628986409.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:13:29.999Z,1628986409.999 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-08-15T00:13:30.305Z,1628986410.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,00359,186,80,80,A2,FF
2021-08-15T00:13:30.305Z,1628986410.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:13:30.305Z,1628986410.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:13:30.307Z,1628986410.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:13:30.311Z,1628986410.311 [PowerOnly](INFO): Powering down loadControl
2021-08-15T00:13:30.410Z,1628986410.410 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-15T00:13:30.693Z,1628986410.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:13:31.098Z,1628986411.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,090,000,00365,186,80,80,97,FF
2021-08-15T00:13:31.098Z,1628986411.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:13:31.529Z,1628986411.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001331.51*5A

2021-08-15T00:13:33.996Z,1628986413.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:13:34.325Z,1628986414.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:13:34.325Z,1628986414.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:13:34.325Z,1628986414.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:13:34.326Z,1628986414.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:13:34.751Z,1628986414.751 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
090,000,00365,186,80,80,97,FF
2021-08-15T00:13:34.751Z,1628986414.751 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:13:34.751Z,1628986414.751 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:13:34.753Z,1628986414.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:13:35.137Z,1628986415.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:13:35.537Z,1628986415.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,00361,186,80,80,83,FF
2021-08-15T00:13:35.538Z,1628986415.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:13:35.981Z,1628986415.981 [Micromodem](INFO): Nmea in: $SNTTA,0.061740,,,,001335.96*4F

2021-08-15T00:13:37.994Z,1628986417.994 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:13:38.380Z,1628986418.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:13:38.769Z,1628986418.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:13:38.769Z,1628986418.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:13:38.769Z,1628986418.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:13:38.770Z,1628986418.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:13:39.177Z,1628986419.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,00361,186,80,80,83,FF
2021-08-15T00:13:39.178Z,1628986419.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:13:39.178Z,1628986419.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:13:39.179Z,1628986419.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:13:39.581Z,1628986419.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:13:39.985Z,1628986419.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,0036B,184,80,80,9F,FF
2021-08-15T00:13:39.986Z,1628986419.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:13:40.430Z,1628986420.430 [Micromodem](INFO): Nmea in: $SNTTA,,0.298002,,,001340.38*4C

2021-08-15T00:13:42.840Z,1628986422.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:13:43.213Z,1628986423.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:13:43.213Z,1628986423.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:13:43.213Z,1628986423.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:13:43.214Z,1628986423.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:13:43.617Z,1628986423.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,0036B,184,80,80,9F,FF
2021-08-15T00:13:43.617Z,1628986423.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:13:43.617Z,1628986423.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:13:43.619Z,1628986423.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:13:44.024Z,1628986424.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:13:44.429Z,1628986424.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,007,000,0037E,183,80,80,70,FF
2021-08-15T00:13:44.430Z,1628986424.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:13:44.857Z,1628986424.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001344.82*56

2021-08-15T00:13:47.293Z,1628986427.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:13:47.665Z,1628986427.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:13:47.665Z,1628986427.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:13:47.665Z,1628986427.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:13:47.666Z,1628986427.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:13:48.061Z,1628986428.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
007,000,0037E,183,80,80,70,FF
2021-08-15T00:13:48.061Z,1628986428.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:13:48.061Z,1628986428.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:13:48.063Z,1628986428.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:13:48.477Z,1628986428.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:13:48.869Z,1628986428.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,00384,185,80,80,5B,FF
2021-08-15T00:13:48.869Z,1628986428.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:13:49.310Z,1628986429.310 [Micromodem](INFO): Nmea in: $SNTTA,0.034082,,,,001349.27*47

2021-08-15T00:13:50.522Z,1628986430.522 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 16.50 m. Transitioning DDM to standby.
2021-08-15T00:13:51.721Z,1628986431.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:13:52.113Z,1628986432.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:13:52.113Z,1628986432.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:13:52.113Z,1628986432.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:13:52.114Z,1628986432.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:13:52.513Z,1628986432.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,00384,185,80,80,5B,FF
2021-08-15T00:13:52.513Z,1628986432.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:13:52.513Z,1628986432.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:13:52.515Z,1628986432.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:13:52.949Z,1628986432.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:13:52.992Z,1628986432.992 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-15T00:13:53.321Z,1628986433.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,0038B,187,80,80,9C,FF
2021-08-15T00:13:53.322Z,1628986433.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:13:53.369Z,1628986433.369 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-15T00:13:53.370Z,1628986433.370 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-15T00:13:53.370Z,1628986433.370 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-15T00:13:53.717Z,1628986433.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001353.72*5F

2021-08-15T00:13:53.737Z,1628986433.737 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-15T00:13:53.737Z,1628986433.737 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-15T00:13:53.738Z,1628986433.738 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-15T00:13:54.194Z,1628986434.194 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-15T00:13:54.194Z,1628986434.194 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T00:13:54.195Z,1628986434.195 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-15T00:13:54.195Z,1628986434.195 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T00:13:54.195Z,1628986434.195 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T00:13:54.529Z,1628986434.529 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T00:13:54.529Z,1628986434.529 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T00:13:54.530Z,1628986434.530 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-15T00:13:54.530Z,1628986434.530 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T00:13:54.530Z,1628986434.530 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T00:13:54.530Z,1628986434.530 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-15T00:13:54.530Z,1628986434.530 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T00:13:54.530Z,1628986434.530 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-15T00:13:54.530Z,1628986434.530 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-15T00:13:54.531Z,1628986434.531 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-15T00:13:54.531Z,1628986434.531 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T00:13:54.536Z,1628986434.536 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-15T00:13:54.536Z,1628986434.536 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 16.919998 m 
2021-08-15T00:13:54.537Z,1628986434.537 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-15T00:13:54.537Z,1628986434.537 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-15T00:13:54.538Z,1628986434.538 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-15T00:13:54.538Z,1628986434.538 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-15T00:13:54.538Z,1628986434.538 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-15T00:13:54.538Z,1628986434.538 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-15T00:13:54.981Z,1628986434.981 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-15T00:13:54.982Z,1628986434.982 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T00:13:54.982Z,1628986434.982 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-15T00:13:54.982Z,1628986434.982 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T00:13:54.982Z,1628986434.982 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T00:13:54.982Z,1628986434.982 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T00:13:54.982Z,1628986434.982 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T00:13:54.982Z,1628986434.982 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T00:13:54.982Z,1628986434.982 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T00:13:54.983Z,1628986434.983 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T00:13:54.983Z,1628986434.983 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T00:13:55.341Z,1628986435.341 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-15T00:13:55.341Z,1628986435.341 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T00:13:55.341Z,1628986435.341 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T00:13:55.341Z,1628986435.341 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:13:55.342Z,1628986435.342 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T00:13:55.342Z,1628986435.342 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T00:13:55.342Z,1628986435.342 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T00:13:55.342Z,1628986435.342 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T00:13:55.343Z,1628986435.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T00:13:55.343Z,1628986435.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T00:13:55.343Z,1628986435.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-15T00:13:55.343Z,1628986435.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T00:13:55.344Z,1628986435.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T00:13:55.344Z,1628986435.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-15T00:13:55.344Z,1628986435.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T00:13:55.344Z,1628986435.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T00:13:55.344Z,1628986435.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-15T00:13:55.345Z,1628986435.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-15T00:13:55.346Z,1628986435.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-15T00:13:55.346Z,1628986435.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-15T00:13:55.346Z,1628986435.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-15T00:13:55.346Z,1628986435.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-15T00:13:55.346Z,1628986435.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T00:13:55.347Z,1628986435.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 420.00 sec.
2021-08-15T00:13:55.347Z,1628986435.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T00:13:55.347Z,1628986435.347 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-15T00:13:55.348Z,1628986435.348 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T00:13:55.348Z,1628986435.348 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-15T00:13:55.348Z,1628986435.348 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T00:13:55.348Z,1628986435.348 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-15T00:13:55.348Z,1628986435.348 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-15T00:13:55.348Z,1628986435.348 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-15T00:13:55.348Z,1628986435.348 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-15T00:13:55.348Z,1628986435.348 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-15T00:13:55.770Z,1628986435.770 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T00:13:55.770Z,1628986435.770 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:13:55.770Z,1628986435.770 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T00:13:55.770Z,1628986435.770 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:13:55.785Z,1628986435.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.919998 m, bearing: 64.466816 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T00:13:55.786Z,1628986435.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 16.92 m.
2021-08-15T00:13:55.786Z,1628986435.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 64.466816deg and heading rate command to 0 deg/s.
2021-08-15T00:13:56.131Z,1628986436.131 [PowerOnly](INFO): Powering up loadControl
2021-08-15T00:13:56.221Z,1628986436.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:13:56.625Z,1628986436.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:13:56.625Z,1628986436.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:13:56.625Z,1628986436.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:13:56.626Z,1628986436.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:13:57.001Z,1628986437.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,0038B,187,80,80,9C,FF
2021-08-15T00:13:57.001Z,1628986437.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:13:57.001Z,1628986437.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:13:57.003Z,1628986437.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:13:57.405Z,1628986437.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:13:57.793Z,1628986437.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,00391,186,80,80,7A,FF
2021-08-15T00:13:57.794Z,1628986437.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:13:57.814Z,1628986437.814 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:13:58.213Z,1628986438.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001358.21*52

2021-08-15T00:13:58.254Z,1628986438.254 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T00:13:58.283Z,1628986438.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.280001 m, bearing: 63.343031 deg, deltaT: 4.437785 s, approachRate: 0.081122 m/s, LOS rate: -0.253231 deg/s, posRepo size: 2
2021-08-15T00:13:58.283Z,1628986438.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 17.28 m.
2021-08-15T00:13:58.285Z,1628986438.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.280001 m,
      bearing: 63.343031 deg,
      approachRate: 0.081122 m/s,
      LOS rate: -0.253231 deg/s,
      cmd update: -1.012924 deg/s,
      cmd heading: 64.466816 deg,
      new cmd heading: 64.466816 deg.

2021-08-15T00:14:00.624Z,1628986440.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:14:01.001Z,1628986441.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:14:01.001Z,1628986441.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:14:01.002Z,1628986441.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:14:01.003Z,1628986441.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:14:01.406Z,1628986441.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,00391,186,80,80,7A,FF
2021-08-15T00:14:01.406Z,1628986441.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:14:01.406Z,1628986441.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:14:01.426Z,1628986441.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:14:01.817Z,1628986441.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:14:02.222Z,1628986442.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF5,000,0038E,186,80,80,83,FF
2021-08-15T00:14:02.223Z,1628986442.223 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:14:02.330Z,1628986442.330 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:14:02.649Z,1628986442.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001402.63*5C

2021-08-15T00:14:02.671Z,1628986442.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.100002 m, bearing: 62.870730 deg, deltaT: 4.516380 s, approachRate: -0.039855 m/s, LOS rate: -0.104575 deg/s, posRepo size: 3
2021-08-15T00:14:02.672Z,1628986442.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 17.10 m.
2021-08-15T00:14:02.674Z,1628986442.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.100002 m,
      bearing: 62.870730 deg,
      approachRate: -0.039855 m/s,
      LOS rate: -0.104575 deg/s,
      cmd update: -0.418300 deg/s,
      cmd heading: 59.896154 deg,
      new cmd heading: 59.543253 deg.

2021-08-15T00:14:05.077Z,1628986445.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:14:05.441Z,1628986445.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:14:05.441Z,1628986445.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:14:05.441Z,1628986445.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:14:05.442Z,1628986445.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:14:05.860Z,1628986445.860 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF5,000,0038E,186,80,80,83,FF
2021-08-15T00:14:05.861Z,1628986445.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:14:05.861Z,1628986445.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:14:05.867Z,1628986445.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:14:06.259Z,1628986446.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:14:06.324Z,1628986446.324 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T00:14:06.657Z,1628986446.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F79,000,0038D,187,80,80,52,FF
2021-08-15T00:14:06.657Z,1628986446.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:14:06.678Z,1628986446.678 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:14:07.083Z,1628986447.083 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001407.09*55

2021-08-15T00:14:07.150Z,1628986447.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.039999 m, bearing: 58.093962 deg, deltaT: 4.347593 s, approachRate: -0.013801 m/s, LOS rate: -1.098716 deg/s, posRepo size: 4
2021-08-15T00:14:07.151Z,1628986447.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 17.04 m.
2021-08-15T00:14:07.157Z,1628986447.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.039999 m,
      bearing: 58.093962 deg,
      approachRate: -0.013801 m/s,
      LOS rate: -1.098716 deg/s,
      cmd update: -4.394862 deg/s,
      cmd heading: 58.075879 deg,
      new cmd heading: 57.876763 deg.

2021-08-15T00:14:09.519Z,1628986449.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:14:09.997Z,1628986449.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:14:09.997Z,1628986449.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:14:09.997Z,1628986449.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:14:09.998Z,1628986449.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:14:10.305Z,1628986450.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F79,000,0038D,187,80,80,52,FF
2021-08-15T00:14:10.305Z,1628986450.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:14:10.305Z,1628986450.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:14:10.307Z,1628986450.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:14:10.697Z,1628986450.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:14:11.101Z,1628986451.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,00361,187,80,80,B2,FF
2021-08-15T00:14:11.102Z,1628986451.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:14:11.207Z,1628986451.207 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:14:11.525Z,1628986451.525 [Micromodem](INFO): Nmea in: $SNTTA,0.032904,,,,001411.51*4D

2021-08-15T00:14:11.566Z,1628986451.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.400001 m, bearing: 61.479414 deg, deltaT: 4.530073 s, approachRate: -0.582772 m/s, LOS rate: 0.747328 deg/s, posRepo size: 4
2021-08-15T00:14:11.567Z,1628986451.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 14.40 m.
2021-08-15T00:14:11.567Z,1628986451.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 14.40 m.
2021-08-15T00:14:11.567Z,1628986451.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T00:14:11.570Z,1628986451.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.400001 m,
      bearing: 61.479414 deg,
      approachRate: -0.582772 m/s,
      LOS rate: 0.747328 deg/s,
      cmd update: 2.989313 deg/s,
      cmd heading: 38.211893 deg,
      new cmd heading: 36.576556 deg.

2021-08-15T00:14:14.042Z,1628986454.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:14:14.329Z,1628986454.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:14:14.329Z,1628986454.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:14:14.329Z,1628986454.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:14:14.330Z,1628986454.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:14:14.754Z,1628986454.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9A,000,00361,187,80,80,B2,FF
2021-08-15T00:14:14.754Z,1628986454.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:14:14.754Z,1628986454.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:14:14.756Z,1628986454.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:14:15.141Z,1628986455.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:14:15.541Z,1628986455.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,00340,187,80,80,A7,FF
2021-08-15T00:14:15.541Z,1628986455.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:14:15.562Z,1628986455.562 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:14:16.013Z,1628986456.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001415.96*50

2021-08-15T00:14:16.109Z,1628986456.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.419999 m, bearing: 70.536716 deg, deltaT: 4.353798 s, approachRate: -0.454776 m/s, LOS rate: 2.080322 deg/s, posRepo size: 4
2021-08-15T00:14:16.111Z,1628986456.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.419999 m,
      bearing: 70.536716 deg,
      approachRate: -0.454776 m/s,
      LOS rate: 2.080322 deg/s,
      cmd update: 8.321289 deg/s,
      cmd heading: 51.257978 deg,
      new cmd heading: 52.902926 deg.

2021-08-15T00:14:18.388Z,1628986458.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:14:18.781Z,1628986458.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:14:18.782Z,1628986458.782 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:14:18.782Z,1628986458.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:14:18.783Z,1628986458.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:14:19.177Z,1628986459.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,00340,187,80,80,A7,FF
2021-08-15T00:14:19.177Z,1628986459.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:14:19.177Z,1628986459.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:14:19.179Z,1628986459.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:14:19.594Z,1628986459.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:14:19.985Z,1628986459.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00321,186,80,80,B0,FF
2021-08-15T00:14:19.986Z,1628986459.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:14:20.076Z,1628986460.076 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:14:20.437Z,1628986460.437 [Micromodem](INFO): Nmea in: $SNTTA,,0.029886,,,001420.38*41

2021-08-15T00:14:20.459Z,1628986460.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.559999 m, bearing: 67.926914 deg, deltaT: 4.514876 s, approachRate: -0.411971 m/s, LOS rate: -0.578045 deg/s, posRepo size: 4
2021-08-15T00:14:20.462Z,1628986460.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 67.926914 deg,
      approachRate: -0.411971 m/s,
      LOS rate: -0.578045 deg/s,
      cmd update: -2.312180 deg/s,
      cmd heading: 88.794653 deg,
      new cmd heading: 92.040522 deg.

2021-08-15T00:14:22.840Z,1628986462.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:14:23.217Z,1628986463.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:14:23.217Z,1628986463.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:14:23.217Z,1628986463.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:14:23.218Z,1628986463.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:14:23.625Z,1628986463.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00321,186,80,80,B0,FF
2021-08-15T00:14:23.625Z,1628986463.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:14:23.625Z,1628986463.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:14:23.627Z,1628986463.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:14:24.038Z,1628986464.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:14:24.441Z,1628986464.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,00300,186,80,80,B7,FF
2021-08-15T00:14:24.442Z,1628986464.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:14:24.518Z,1628986464.518 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:14:24.878Z,1628986464.878 [Micromodem](INFO): Nmea in: $SNTTA,0.032014,,,,001424.83*4C

2021-08-15T00:14:24.952Z,1628986464.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.579998 m, bearing: 75.519127 deg, deltaT: 4.442071 s, approachRate: -0.445738 m/s, LOS rate: 1.709161 deg/s, posRepo size: 4
2021-08-15T00:14:24.954Z,1628986464.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 75.519127 deg,
      approachRate: -0.445738 m/s,
      LOS rate: 1.709161 deg/s,
      cmd update: 6.836642 deg/s,
      cmd heading: 78.514652 deg,
      new cmd heading: 77.515080 deg.

2021-08-15T00:14:27.311Z,1628986467.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:14:27.661Z,1628986467.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:14:27.661Z,1628986467.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:14:27.661Z,1628986467.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:14:27.662Z,1628986467.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:14:28.065Z,1628986468.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,00300,186,80,80,B7,FF
2021-08-15T00:14:28.065Z,1628986468.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:14:28.065Z,1628986468.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:14:28.067Z,1628986468.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:14:28.477Z,1628986468.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:14:28.875Z,1628986468.875 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,002EB,186,80,80,AB,FF
2021-08-15T00:14:28.875Z,1628986468.875 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:14:28.961Z,1628986468.961 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:14:29.321Z,1628986469.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001429.27*55

2021-08-15T00:14:29.347Z,1628986469.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.320000 m, bearing: 91.568337 deg, deltaT: 4.442653 s, approachRate: -0.283614 m/s, LOS rate: 3.612528 deg/s, posRepo size: 4
2021-08-15T00:14:29.349Z,1628986469.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 91.568337 deg,
      approachRate: -0.283614 m/s,
      LOS rate: 3.612528 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 108.860108 deg,
      new cmd heading: 111.548556 deg.

2021-08-15T00:14:31.724Z,1628986471.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:14:32.105Z,1628986472.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:14:32.105Z,1628986472.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:14:32.105Z,1628986472.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:14:32.106Z,1628986472.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:14:32.518Z,1628986472.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,002EB,186,80,80,AB,FF
2021-08-15T00:14:32.518Z,1628986472.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:14:32.518Z,1628986472.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:14:32.520Z,1628986472.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:14:32.975Z,1628986472.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:14:33.317Z,1628986473.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,002CC,187,80,80,5F,FF
2021-08-15T00:14:33.317Z,1628986473.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:14:33.363Z,1628986473.363 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:14:33.765Z,1628986473.765 [Micromodem](INFO): Nmea in: $SNTTA,0.039845,,,,001433.73*42

2021-08-15T00:14:33.787Z,1628986473.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.460000 m, bearing: 105.369349 deg, deltaT: 4.401710 s, approachRate: -0.422563 m/s, LOS rate: 3.135375 deg/s, posRepo size: 4
2021-08-15T00:14:33.791Z,1628986473.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.460000 m,
      bearing: 105.369349 deg,
      approachRate: -0.422563 m/s,
      LOS rate: 3.135375 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 161.680065 deg,
      new cmd heading: 166.859181 deg.

2021-08-15T00:14:36.217Z,1628986476.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:14:36.549Z,1628986476.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:14:36.549Z,1628986476.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:14:36.549Z,1628986476.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:14:36.550Z,1628986476.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:14:36.974Z,1628986476.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,002CC,187,80,80,5F,FF
2021-08-15T00:14:36.974Z,1628986476.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:14:36.974Z,1628986476.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:14:36.976Z,1628986476.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:14:37.357Z,1628986477.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:14:37.761Z,1628986477.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,002C0,187,80,80,56,FF
2021-08-15T00:14:37.762Z,1628986477.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:14:37.782Z,1628986477.782 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:14:38.201Z,1628986478.201 [Micromodem](INFO): Nmea in: $SNTTA,0.022037,,,,001438.19*42

2021-08-15T00:14:38.289Z,1628986478.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 128.215259 deg, deltaT: 4.419614 s, approachRate: -0.162910 m/s, LOS rate: 5.169209 deg/s, posRepo size: 4
2021-08-15T00:14:38.291Z,1628986478.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 128.215259 deg,
      approachRate: -0.162910 m/s,
      LOS rate: 5.169209 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 214.763471 deg,
      new cmd heading: 220.639847 deg.

2021-08-15T00:14:40.215Z,1628986480.215 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T00:14:40.286Z,1628986480.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:14:40.597Z,1628986480.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:14:40.597Z,1628986480.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:14:40.598Z,1628986480.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:14:40.598Z,1628986480.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:14:40.993Z,1628986480.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,002C0,187,80,80,56,FF
2021-08-15T00:14:40.993Z,1628986480.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:14:40.993Z,1628986480.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:14:40.995Z,1628986480.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:14:41.404Z,1628986481.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:14:41.801Z,1628986481.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,002C4,186,80,80,A7,FF
2021-08-15T00:14:41.802Z,1628986481.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:14:41.822Z,1628986481.822 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:14:42.259Z,1628986482.259 [Micromodem](INFO): Nmea in: $SNTTA,0.007532,,,,001442.20*42

2021-08-15T00:14:42.331Z,1628986482.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.979999 m, bearing: 136.423098 deg, deltaT: 4.039235 s, approachRate: 0.059417 m/s, LOS rate: 2.032028 deg/s, posRepo size: 4
2021-08-15T00:14:42.337Z,1628986482.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.979999 m,
      bearing: 136.423098 deg,
      approachRate: 0.059417 m/s,
      LOS rate: 2.032028 deg/s,
      cmd update: 8.128112 deg/s,
      cmd heading: 263.233548 deg,
      new cmd heading: 269.385264 deg.

2021-08-15T00:14:44.667Z,1628986484.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:14:45.037Z,1628986485.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:14:45.037Z,1628986485.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:14:45.037Z,1628986485.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:14:45.038Z,1628986485.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:14:45.439Z,1628986485.439 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,002C4,186,80,80,A7,FF
2021-08-15T00:14:45.439Z,1628986485.439 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:14:45.440Z,1628986485.440 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:14:45.441Z,1628986485.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:14:45.855Z,1628986485.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:14:46.246Z,1628986486.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,002DB,186,80,80,7D,FF
2021-08-15T00:14:46.247Z,1628986486.247 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:14:46.252Z,1628986486.252 [Micromodem](INFO): Nmea in: $SNTTA,0.020497,0.163807,,,001446.65*59

2021-08-15T00:14:46.330Z,1628986486.330 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:14:46.689Z,1628986486.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.359998 m, bearing: 154.867286 deg, deltaT: 4.508657 s, approachRate: 0.306078 m/s, LOS rate: 4.090838 deg/s, posRepo size: 4
2021-08-15T00:14:46.691Z,1628986486.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.359998 m,
      bearing: 154.867286 deg,
      approachRate: 0.306078 m/s,
      LOS rate: 4.090838 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 299.880792 deg,
      new cmd heading: 302.817885 deg.

2021-08-15T00:14:49.101Z,1628986489.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:14:49.477Z,1628986489.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:14:49.477Z,1628986489.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:14:49.477Z,1628986489.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:14:49.478Z,1628986489.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:14:49.890Z,1628986489.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,002DB,186,80,80,7D,FF
2021-08-15T00:14:49.891Z,1628986489.891 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:14:49.891Z,1628986489.891 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:14:49.917Z,1628986489.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:14:50.305Z,1628986490.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:14:50.697Z,1628986490.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,00308,186,80,80,7C,FF
2021-08-15T00:14:50.697Z,1628986490.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:14:50.761Z,1628986490.761 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:14:51.115Z,1628986491.115 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001451.12*5C

2021-08-15T00:14:51.157Z,1628986491.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.059999 m, bearing: 176.580976 deg, deltaT: 4.431009 s, approachRate: 0.609342 m/s, LOS rate: 4.900394 deg/s, posRepo size: 4
2021-08-15T00:14:51.159Z,1628986491.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 176.580976 deg,
      approachRate: 0.609342 m/s,
      LOS rate: 4.900394 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 353.005488 deg,
      new cmd heading: 357.835284 deg.

2021-08-15T00:14:53.563Z,1628986493.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:14:53.973Z,1628986493.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:14:53.973Z,1628986493.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:14:53.973Z,1628986493.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:14:53.974Z,1628986493.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:14:54.333Z,1628986494.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,00308,186,80,80,7C,FF
2021-08-15T00:14:54.333Z,1628986494.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:14:54.333Z,1628986494.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:14:54.335Z,1628986494.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:14:54.740Z,1628986494.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:14:55.145Z,1628986495.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,0031B,186,80,80,8A,FF
2021-08-15T00:14:55.145Z,1628986495.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:14:55.201Z,1628986495.201 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:14:55.577Z,1628986495.577 [Micromodem](INFO): Nmea in: $SNTTA,0.046646,,,,001455.54*42

2021-08-15T00:14:55.612Z,1628986495.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.200003 m, bearing: 184.672947 deg, deltaT: 4.439416 s, approachRate: 0.256791 m/s, LOS rate: 1.822756 deg/s, posRepo size: 4
2021-08-15T00:14:55.614Z,1628986495.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 184.672947 deg,
      approachRate: 0.256791 m/s,
      LOS rate: 1.822756 deg/s,
      cmd update: 7.291023 deg/s,
      cmd heading: 46.027309 deg,
      new cmd heading: 51.299041 deg.

2021-08-15T00:14:58.052Z,1628986498.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:14:58.373Z,1628986498.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:14:58.373Z,1628986498.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:14:58.373Z,1628986498.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:14:58.374Z,1628986498.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:14:58.785Z,1628986498.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,0031B,186,80,80,8A,FF
2021-08-15T00:14:58.785Z,1628986498.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:14:58.785Z,1628986498.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:14:58.787Z,1628986498.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:14:59.192Z,1628986499.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:14:59.585Z,1628986499.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,00344,186,80,80,A7,FF
2021-08-15T00:14:59.586Z,1628986499.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:14:59.666Z,1628986499.666 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:15:00.009Z,1628986500.009 [Micromodem](INFO): Nmea in: $SNTTA,0.010266,0.450888,,,001459.99*5D

2021-08-15T00:15:00.093Z,1628986500.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.660002 m, bearing: 168.252558 deg, deltaT: 4.465767 s, approachRate: 0.550857 m/s, LOS rate: -3.676947 deg/s, posRepo size: 4
2021-08-15T00:15:00.093Z,1628986500.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.66 m. Rolling out.
2021-08-15T00:15:00.094Z,1628986500.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T00:15:02.455Z,1628986502.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:15:02.821Z,1628986502.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:15:02.821Z,1628986502.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:15:02.821Z,1628986502.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:15:02.822Z,1628986502.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:15:03.238Z,1628986503.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E89,000,00344,186,80,80,A7,FF
2021-08-15T00:15:03.238Z,1628986503.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:15:03.238Z,1628986503.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:15:03.241Z,1628986503.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:15:03.629Z,1628986503.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:15:04.049Z,1628986504.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BA,000,00370,189,80,80,38,FF
2021-08-15T00:15:04.050Z,1628986504.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:15:04.138Z,1628986504.138 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:15:04.457Z,1628986504.457 [Micromodem](INFO): Nmea in: $SNTTA,0.019974,,,,001504.45*43

2021-08-15T00:15:04.500Z,1628986504.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.299999 m, bearing: 98.572300 deg, deltaT: 4.471847 s, approachRate: 0.590360 m/s, LOS rate: -15.581985 deg/s, posRepo size: 4
2021-08-15T00:15:06.925Z,1628986506.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:15:07.277Z,1628986507.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:15:07.277Z,1628986507.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:15:07.277Z,1628986507.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:15:07.278Z,1628986507.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:15:07.669Z,1628986507.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BA,000,00370,189,80,80,38,FF
2021-08-15T00:15:07.669Z,1628986507.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:15:07.670Z,1628986507.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:15:07.671Z,1628986507.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:15:08.098Z,1628986508.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:15:08.477Z,1628986508.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2F,000,003A4,188,80,80,1E,FF
2021-08-15T00:15:08.478Z,1628986508.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:15:08.498Z,1628986508.498 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:15:08.927Z,1628986508.927 [Micromodem](INFO): Nmea in: $SNTTA,0.013958,,,,001508.88*4A

2021-08-15T00:15:08.958Z,1628986508.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 126.749350 deg, deltaT: 4.359478 s, approachRate: 0.715682 m/s, LOS rate: 6.463400 deg/s, posRepo size: 4
2021-08-15T00:15:11.338Z,1628986511.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:15:11.705Z,1628986511.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:15:11.705Z,1628986511.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:15:11.705Z,1628986511.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:15:11.706Z,1628986511.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:15:12.121Z,1628986512.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2F,000,003A4,188,80,80,1E,FF
2021-08-15T00:15:12.121Z,1628986512.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:15:12.121Z,1628986512.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:15:12.123Z,1628986512.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:15:12.525Z,1628986512.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:15:12.957Z,1628986512.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,293,000,003C4,189,80,80,9A,FF
2021-08-15T00:15:12.957Z,1628986512.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:15:13.036Z,1628986513.036 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:15:13.361Z,1628986513.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001513.33*58

2021-08-15T00:15:13.402Z,1628986513.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.339998 m, bearing: 68.693890 deg, deltaT: 4.538392 s, approachRate: 0.423057 m/s, LOS rate: -12.792077 deg/s, posRepo size: 4
2021-08-15T00:15:15.771Z,1628986515.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:15:16.161Z,1628986516.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:15:16.161Z,1628986516.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:15:16.162Z,1628986516.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:15:16.162Z,1628986516.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:15:16.553Z,1628986516.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
293,000,003C4,189,80,80,9A,FF
2021-08-15T00:15:16.553Z,1628986516.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:15:16.553Z,1628986516.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:15:16.555Z,1628986516.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:15:16.990Z,1628986516.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:15:17.361Z,1628986517.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E3,000,003E5,189,80,80,50,FF
2021-08-15T00:15:17.362Z,1628986517.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:15:17.409Z,1628986517.409 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:15:17.810Z,1628986517.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001517.76*5D

2021-08-15T00:15:17.831Z,1628986517.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 47.798255 deg, deltaT: 4.373160 s, approachRate: 0.452762 m/s, LOS rate: -4.778155 deg/s, posRepo size: 4
2021-08-15T00:15:20.271Z,1628986520.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:15:20.593Z,1628986520.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:15:20.593Z,1628986520.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:15:20.593Z,1628986520.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:15:20.594Z,1628986520.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:15:20.998Z,1628986520.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E3,000,003E5,189,80,80,50,FF
2021-08-15T00:15:20.998Z,1628986520.998 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:15:20.999Z,1628986520.999 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:15:21.001Z,1628986521.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:15:21.404Z,1628986521.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:15:21.815Z,1628986521.815 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,250,000,003FE,189,80,80,9D,FF
2021-08-15T00:15:21.816Z,1628986521.816 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:15:21.851Z,1628986521.851 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:15:22.255Z,1628986522.255 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001522.21*59

2021-08-15T00:15:22.328Z,1628986522.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.819998 m, bearing: 40.332561 deg, deltaT: 4.454981 s, approachRate: 0.336701 m/s, LOS rate: -1.675808 deg/s, posRepo size: 4
2021-08-15T00:15:24.671Z,1628986524.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:15:25.041Z,1628986525.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:15:25.041Z,1628986525.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:15:25.041Z,1628986525.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:15:25.042Z,1628986525.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:15:25.441Z,1628986525.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
250,000,003FE,189,80,80,9D,FF
2021-08-15T00:15:25.441Z,1628986525.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:15:25.441Z,1628986525.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:15:25.443Z,1628986525.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:15:25.877Z,1628986525.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:15:26.250Z,1628986526.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BF,000,00418,188,80,80,A8,FF
2021-08-15T00:15:26.250Z,1628986526.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:15:26.345Z,1628986526.345 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:15:26.698Z,1628986526.698 [Micromodem](INFO): Nmea in: $SNTTA,0.033769,,,,001526.65*4B

2021-08-15T00:15:26.730Z,1628986526.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.379997 m, bearing: 36.885767 deg, deltaT: 4.480929 s, approachRate: 0.348142 m/s, LOS rate: -0.769214 deg/s, posRepo size: 4
2021-08-15T00:15:28.694Z,1628986528.694 [PowerOnly](INFO): Powering down loadControl
2021-08-15T00:15:29.127Z,1628986529.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:15:29.481Z,1628986529.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:15:29.481Z,1628986529.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:15:29.481Z,1628986529.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:15:29.482Z,1628986529.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:15:29.914Z,1628986529.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BF,000,00418,188,80,80,A8,FF
2021-08-15T00:15:29.915Z,1628986529.915 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:15:29.920Z,1628986529.920 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:15:29.929Z,1628986529.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:15:30.048Z,1628986530.048 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T00:15:30.300Z,1628986530.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:15:30.697Z,1628986530.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30F,000,00438,189,80,80,94,FF
2021-08-15T00:15:30.698Z,1628986530.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:15:30.717Z,1628986530.717 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:15:31.127Z,1628986531.127 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001531.14*5D

2021-08-15T00:15:31.168Z,1628986531.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.300001 m, bearing: 33.427502 deg, deltaT: 4.371897 s, approachRate: 0.439170 m/s, LOS rate: -0.791022 deg/s, posRepo size: 4
2021-08-15T00:15:33.539Z,1628986533.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:15:33.969Z,1628986533.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:15:33.969Z,1628986533.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:15:33.969Z,1628986533.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:15:33.970Z,1628986533.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:15:34.334Z,1628986534.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30F,000,00438,189,80,80,94,FF
2021-08-15T00:15:34.334Z,1628986534.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:15:34.334Z,1628986534.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:15:34.336Z,1628986534.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:15:34.744Z,1628986534.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:15:35.145Z,1628986535.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,370,000,00459,188,80,80,92,FF
2021-08-15T00:15:35.145Z,1628986535.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:15:35.204Z,1628986535.204 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:15:35.577Z,1628986535.577 [Micromodem](INFO): Nmea in: $SNTTA,0.041468,,,,001535.54*4C

2021-08-15T00:15:35.615Z,1628986535.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.280003 m, bearing: 29.145681 deg, deltaT: 4.487266 s, approachRate: 0.441249 m/s, LOS rate: -0.954216 deg/s, posRepo size: 4
2021-08-15T00:15:36.038Z,1628986536.038 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T00:15:36.044Z,1628986536.044 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T00:15:38.048Z,1628986538.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:15:38.373Z,1628986538.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:15:38.373Z,1628986538.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:15:38.373Z,1628986538.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:15:38.374Z,1628986538.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:15:38.773Z,1628986538.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
370,000,00459,188,80,80,92,FF
2021-08-15T00:15:38.773Z,1628986538.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:15:38.773Z,1628986538.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:15:38.775Z,1628986538.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:15:39.189Z,1628986539.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:15:39.581Z,1628986539.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32D,000,00485,189,80,80,78,FF
2021-08-15T00:15:39.582Z,1628986539.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:15:39.669Z,1628986539.669 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:15:40.025Z,1628986540.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001539.98*51

2021-08-15T00:15:40.088Z,1628986540.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.920000 m, bearing: 32.559433 deg, deltaT: 4.464787 s, approachRate: 0.591293 m/s, LOS rate: 0.764595 deg/s, posRepo size: 4
2021-08-15T00:15:42.435Z,1628986542.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:15:42.813Z,1628986542.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:15:42.813Z,1628986542.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:15:42.813Z,1628986542.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:15:42.814Z,1628986542.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:15:43.225Z,1628986543.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32D,000,00485,189,80,80,78,FF
2021-08-15T00:15:43.226Z,1628986543.226 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:15:43.226Z,1628986543.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:15:43.230Z,1628986543.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:15:43.630Z,1628986543.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:15:44.025Z,1628986544.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,349,000,004AD,189,80,80,6D,FF
2021-08-15T00:15:44.025Z,1628986544.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:15:44.117Z,1628986544.117 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:15:44.465Z,1628986544.465 [Micromodem](INFO): Nmea in: $SNTTA,0.043761,,,,001544.44*43

2021-08-15T00:15:44.487Z,1628986544.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.320000 m, bearing: 31.158674 deg, deltaT: 4.448090 s, approachRate: 0.539557 m/s, LOS rate: -0.314912 deg/s, posRepo size: 4
2021-08-15T00:15:46.876Z,1628986546.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:15:47.269Z,1628986547.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:15:47.269Z,1628986547.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:15:47.269Z,1628986547.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:15:47.270Z,1628986547.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:15:47.661Z,1628986547.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
349,000,004AD,189,80,80,6D,FF
2021-08-15T00:15:47.661Z,1628986547.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:15:47.661Z,1628986547.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:15:47.663Z,1628986547.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:15:48.068Z,1628986548.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:15:48.906Z,1628986548.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001548.87*59

2021-08-15T00:15:49.701Z,1628986549.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:15:51.324Z,1628986551.324 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,6D,FF
2021-08-15T00:15:51.325Z,1628986551.325 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,6D,FF
2021-08-15T00:15:51.325Z,1628986551.325 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:15:52.541Z,1628986552.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:15:52.925Z,1628986552.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:15:52.925Z,1628986552.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:15:52.926Z,1628986552.926 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:15:52.927Z,1628986552.927 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:15:53.337Z,1628986553.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,6D,FF
2021-08-15T00:15:53.337Z,1628986553.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:15:53.337Z,1628986553.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:15:53.339Z,1628986553.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:15:53.735Z,1628986553.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:15:54.121Z,1628986554.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,00505,187,80,80,7A,FF
2021-08-15T00:15:54.122Z,1628986554.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:15:54.125Z,1628986554.125 [Micromodem](INFO): Nmea in: $SNTTA,0.172980,0.172936,,,001554.55*56

2021-08-15T00:15:54.218Z,1628986554.218 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:15:54.579Z,1628986554.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.599998 m, bearing: 79.004846 deg, deltaT: 10.100863 s, approachRate: 0.522727 m/s, LOS rate: 4.736840 deg/s, posRepo size: 4
2021-08-15T00:15:56.997Z,1628986556.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:15:57.365Z,1628986557.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:15:57.365Z,1628986557.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:15:57.365Z,1628986557.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:15:57.366Z,1628986557.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:15:57.765Z,1628986557.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,00505,187,80,80,7A,FF
2021-08-15T00:15:57.765Z,1628986557.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:15:57.765Z,1628986557.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:15:57.767Z,1628986557.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:15:58.168Z,1628986558.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:15:58.569Z,1628986558.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,0052E,185,80,80,59,FF
2021-08-15T00:15:58.569Z,1628986558.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:15:58.589Z,1628986558.589 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:15:58.993Z,1628986558.993 [Micromodem](INFO): Nmea in: $SNTTA,0.388784,0.388909,,,001558.98*5D

2021-08-15T00:15:59.040Z,1628986559.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.060001 m, bearing: 74.954380 deg, deltaT: 4.370653 s, approachRate: 0.562846 m/s, LOS rate: -0.926742 deg/s, posRepo size: 4
2021-08-15T00:15:59.417Z,1628986559.417 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T00:15:59.417Z,1628986559.417 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:15:59.418Z,1628986559.418 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T00:15:59.418Z,1628986559.418 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T00:15:59.418Z,1628986559.418 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T00:15:59.418Z,1628986559.418 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T00:15:59.849Z,1628986559.849 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T00:15:59.849Z,1628986559.849 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:15:59.849Z,1628986559.849 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T00:15:59.849Z,1628986559.849 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:16:01.419Z,1628986561.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:16:01.801Z,1628986561.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:16:01.801Z,1628986561.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:16:01.801Z,1628986561.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:16:01.802Z,1628986561.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:16:02.205Z,1628986562.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,0052E,185,80,80,59,FF
2021-08-15T00:16:02.205Z,1628986562.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:16:02.205Z,1628986562.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:16:02.207Z,1628986562.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:16:02.625Z,1628986562.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:16:03.021Z,1628986563.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,453,000,00554,189,80,80,57,FF
2021-08-15T00:16:03.022Z,1628986563.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:16:03.458Z,1628986563.458 [Micromodem](INFO): Nmea in: $SNTTA,0.043928,,,,001603.42*46

2021-08-15T00:16:03.479Z,1628986563.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.339996 m, bearing: 16.328448 deg, deltaT: 4.481900 s, approachRate: 0.508712 m/s, LOS rate: -13.080598 deg/s, posRepo size: 4
2021-08-15T00:16:05.937Z,1628986565.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:16:06.250Z,1628986566.250 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:16:06.250Z,1628986566.250 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:16:06.250Z,1628986566.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:16:06.251Z,1628986566.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:16:06.654Z,1628986566.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
453,000,00554,189,80,80,57,FF
2021-08-15T00:16:06.654Z,1628986566.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:16:06.654Z,1628986566.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:16:06.656Z,1628986566.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:16:07.071Z,1628986567.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:16:07.457Z,1628986567.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3FB,000,00582,189,80,80,2E,FF
2021-08-15T00:16:07.458Z,1628986567.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:16:07.919Z,1628986567.919 [Micromodem](INFO): Nmea in: $SNTTA,0.061850,,,,001607.86*44

2021-08-15T00:16:07.986Z,1628986567.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.100002 m, bearing: 20.636923 deg, deltaT: 4.447161 s, approachRate: 0.620622 m/s, LOS rate: 0.968815 deg/s, posRepo size: 4
2021-08-15T00:16:10.019Z,1628986570.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:16:10.297Z,1628986570.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:16:10.297Z,1628986570.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:16:10.297Z,1628986570.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:16:10.298Z,1628986570.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:16:10.693Z,1628986570.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3FB,000,00582,189,80,80,2E,FF
2021-08-15T00:16:10.693Z,1628986570.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:16:10.693Z,1628986570.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:16:10.695Z,1628986570.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:16:11.105Z,1628986571.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:16:11.497Z,1628986571.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,005AA,187,80,80,41,FF
2021-08-15T00:16:11.498Z,1628986571.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:16:11.982Z,1628986571.982 [Micromodem](INFO): Nmea in: $SNTTA,0.072879,,,,001611.90*4D

2021-08-15T00:16:12.026Z,1628986572.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.500000 m, bearing: 78.014646 deg, deltaT: 4.031257 s, approachRate: 0.595347 m/s, LOS rate: 14.233208 deg/s, posRepo size: 4
2021-08-15T00:16:14.348Z,1628986574.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:16:14.729Z,1628986574.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:16:14.729Z,1628986574.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:16:14.729Z,1628986574.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:16:14.730Z,1628986574.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:16:15.146Z,1628986575.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,005AA,187,80,80,41,FF
2021-08-15T00:16:15.146Z,1628986575.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:16:15.146Z,1628986575.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:16:15.148Z,1628986575.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:16:15.551Z,1628986575.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:16:15.969Z,1628986575.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,005D5,185,80,80,60,FF
2021-08-15T00:16:15.970Z,1628986575.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:16:16.381Z,1628986576.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001616.36*5B

2021-08-15T00:16:16.409Z,1628986576.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.079994 m, bearing: 70.561018 deg, deltaT: 4.497850 s, approachRate: 0.573606 m/s, LOS rate: -1.657154 deg/s, posRepo size: 4
2021-08-15T00:16:18.798Z,1628986578.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:16:19.173Z,1628986579.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:16:19.173Z,1628986579.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:16:19.173Z,1628986579.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:16:19.174Z,1628986579.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:16:19.585Z,1628986579.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,005D5,185,80,80,60,FF
2021-08-15T00:16:19.585Z,1628986579.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:16:19.586Z,1628986579.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:16:19.587Z,1628986579.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:16:20.016Z,1628986580.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:16:20.389Z,1628986580.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,005FE,186,80,80,82,FF
2021-08-15T00:16:20.389Z,1628986580.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:16:20.821Z,1628986580.821 [Micromodem](INFO): Nmea in: $SNTTA,0.049036,,,,001620.79*43

2021-08-15T00:16:20.856Z,1628986580.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.540005 m, bearing: 92.884036 deg, deltaT: 4.362052 s, approachRate: 0.563957 m/s, LOS rate: 5.117550 deg/s, posRepo size: 4
2021-08-15T00:16:23.281Z,1628986583.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:16:23.621Z,1628986583.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:16:23.621Z,1628986583.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:16:23.621Z,1628986583.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:16:23.622Z,1628986583.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:16:24.021Z,1628986584.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,005FE,186,80,80,82,FF
2021-08-15T00:16:24.021Z,1628986584.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:16:24.021Z,1628986584.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:16:24.023Z,1628986584.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:16:24.426Z,1628986584.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:16:24.851Z,1628986584.851 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,0062B,185,80,80,53,FF
2021-08-15T00:16:24.854Z,1628986584.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:16:25.269Z,1628986585.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001625.23*5F

2021-08-15T00:16:25.311Z,1628986585.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.240005 m, bearing: 92.225838 deg, deltaT: 4.530955 s, approachRate: 0.595901 m/s, LOS rate: -0.145267 deg/s, posRepo size: 4
2021-08-15T00:16:27.714Z,1628986587.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:16:28.085Z,1628986588.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:16:28.085Z,1628986588.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:16:28.085Z,1628986588.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:16:28.086Z,1628986588.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:16:28.497Z,1628986588.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,0062B,185,80,80,53,FF
2021-08-15T00:16:28.497Z,1628986588.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:16:28.497Z,1628986588.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:16:28.499Z,1628986588.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:16:28.931Z,1628986588.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:16:29.305Z,1628986589.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAD,000,00657,186,80,80,7B,FF
2021-08-15T00:16:29.306Z,1628986589.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:16:29.742Z,1628986589.742 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001629.71*54

2021-08-15T00:16:29.757Z,1628986589.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.880005 m, bearing: 90.977266 deg, deltaT: 4.434824 s, approachRate: 0.595288 m/s, LOS rate: -0.281538 deg/s, posRepo size: 4
2021-08-15T00:16:30.138Z,1628986590.138 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T00:16:32.191Z,1628986592.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:16:32.541Z,1628986592.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:16:32.541Z,1628986592.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:16:32.541Z,1628986592.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:16:32.542Z,1628986592.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:16:32.969Z,1628986592.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAD,000,00657,186,80,80,7B,FF
2021-08-15T00:16:32.969Z,1628986592.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:16:32.969Z,1628986592.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:16:32.971Z,1628986592.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:16:33.349Z,1628986593.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:16:33.753Z,1628986593.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,00684,186,80,80,6A,FF
2021-08-15T00:16:33.754Z,1628986593.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:16:34.177Z,1628986594.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001634.18*57

2021-08-15T00:16:34.262Z,1628986594.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.580006 m, bearing: 91.115543 deg, deltaT: 4.425961 s, approachRate: 0.610037 m/s, LOS rate: 0.031242 deg/s, posRepo size: 4
2021-08-15T00:16:36.248Z,1628986596.248 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T00:16:36.249Z,1628986596.249 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T00:16:36.249Z,1628986596.249 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T00:16:36.249Z,1628986596.249 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T00:16:36.249Z,1628986596.249 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T00:16:36.855Z,1628986596.855 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 06411861210000005D000004003E0000000000000000151D80030C5669C08C7A9715BB984647EB38E3FBF583430439278525EE8D4E6D272C2CB74670F6A0BD50
2021-08-15T00:16:36.855Z,1628986596.855 [Micromodem](INFO): Outgoing frame #2, 18 bytes: 961C2FB7B8F43947D70A9B2B8F43E30BA800
2021-08-15T00:16:36.856Z,1628986596.856 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-15T00:16:36.945Z,1628986596.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:16:37.117Z,1628986597.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:16:37.117Z,1628986597.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:16:37.118Z,1628986597.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:16:37.118Z,1628986597.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:16:37.125Z,1628986597.125 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-15T00:16:37.521Z,1628986597.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,00684,186,80,80,6A,FF
2021-08-15T00:16:37.521Z,1628986597.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:16:37.521Z,1628986597.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:16:37.523Z,1628986597.523 [Micromodem](INFO): Nmea in: $CADRQ,001637,1,10,0,64,1*75

2021-08-15T00:16:37.523Z,1628986597.523 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861210000005D000004003E0000000000000000151D80030C5669C08C7A9715BB984647EB38E3FBF583430439278525EE8D4E6D272C2CB74670F6A0BD50*3D

2021-08-15T00:16:37.966Z,1628986597.966 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T00:16:37.967Z,1628986597.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:16:38.339Z,1628986598.339 [Micromodem](INFO): Nmea in: $CADRQ,001638,1,10,0,64,2*79

2021-08-15T00:16:38.339Z,1628986598.339 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,001638,1,10,0,64,2*79

2021-08-15T00:16:38.837Z,1628986598.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,006BB,186,80,80,68,FF
2021-08-15T00:16:38.838Z,1628986598.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:16:38.848Z,1628986598.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:16:39.263Z,1628986599.263 [Micromodem](INFO): Nmea in: $SNTTA,0.050123,,,,001639.18*41

2021-08-15T00:16:39.288Z,1628986599.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.880005 m, bearing: 93.773347 deg, deltaT: 5.172332 s, approachRate: 0.638010 m/s, LOS rate: 0.513850 deg/s, posRepo size: 4
2021-08-15T00:16:41.717Z,1628986601.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:16:42.069Z,1628986602.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:16:42.069Z,1628986602.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:16:42.069Z,1628986602.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:16:42.070Z,1628986602.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:16:42.494Z,1628986602.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E77,000,006BB,186,80,80,68,FF
2021-08-15T00:16:42.494Z,1628986602.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:16:42.494Z,1628986602.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:16:42.497Z,1628986602.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:16:42.920Z,1628986602.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:16:43.341Z,1628986603.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,006E9,186,80,80,5F,FF
2021-08-15T00:16:43.342Z,1628986603.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:16:43.757Z,1628986603.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001643.70*59

2021-08-15T00:16:43.780Z,1628986603.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.639999 m, bearing: 88.981416 deg, deltaT: 4.388751 s, approachRate: 0.628879 m/s, LOS rate: -1.091867 deg/s, posRepo size: 4
2021-08-15T00:16:46.325Z,1628986606.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:16:46.597Z,1628986606.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:16:46.597Z,1628986606.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:16:46.597Z,1628986606.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:16:46.598Z,1628986606.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:16:47.001Z,1628986607.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,006E9,186,80,80,5F,FF
2021-08-15T00:16:47.001Z,1628986607.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:16:47.001Z,1628986607.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:16:47.003Z,1628986607.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:16:47.418Z,1628986607.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:16:47.805Z,1628986607.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,00713,189,80,80,4A,FF
2021-08-15T00:16:47.806Z,1628986607.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:16:48.261Z,1628986608.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001648.21*56

2021-08-15T00:16:48.330Z,1628986608.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.159996 m, bearing: 33.665955 deg, deltaT: 4.548897 s, approachRate: 0.553980 m/s, LOS rate: -12.160192 deg/s, posRepo size: 4
2021-08-15T00:16:49.991Z,1628986609.991 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:16:50.891Z,1628986610.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:16:51.161Z,1628986611.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:16:51.162Z,1628986611.162 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:16:51.162Z,1628986611.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:16:51.163Z,1628986611.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:16:51.569Z,1628986611.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,00713,189,80,80,4A,FF
2021-08-15T00:16:51.569Z,1628986611.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:16:51.569Z,1628986611.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:16:51.571Z,1628986611.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:16:52.186Z,1628986612.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:16:52.563Z,1628986612.563 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,326,000,00746,189,80,80,5E,FF
2021-08-15T00:16:52.563Z,1628986612.563 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:16:52.993Z,1628986612.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001652.78*51

2021-08-15T00:16:53.077Z,1628986613.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.220001 m, bearing: 33.262984 deg, deltaT: 4.671920 s, approachRate: 0.654978 m/s, LOS rate: -0.086254 deg/s, posRepo size: 4
2021-08-15T00:16:55.450Z,1628986615.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:16:55.797Z,1628986615.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:16:55.797Z,1628986615.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:16:55.797Z,1628986615.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:16:55.798Z,1628986615.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:16:56.333Z,1628986616.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
326,000,00746,189,80,80,5E,FF
2021-08-15T00:16:56.333Z,1628986616.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:16:56.334Z,1628986616.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:16:56.335Z,1628986616.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:16:56.744Z,1628986616.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:16:57.137Z,1628986617.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31B,000,00778,189,80,80,68,FF
2021-08-15T00:16:57.137Z,1628986617.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:16:57.589Z,1628986617.589 [Micromodem](INFO): Nmea in: $SNTTA,0.071690,,,,001657.54*4D

2021-08-15T00:16:57.647Z,1628986617.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.220001 m, bearing: 33.785934 deg, deltaT: 4.617270 s, approachRate: 0.649735 m/s, LOS rate: 0.113260 deg/s, posRepo size: 4
2021-08-15T00:17:00.043Z,1628986620.043 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T00:17:00.114Z,1628986620.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:17:00.437Z,1628986620.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:17:00.437Z,1628986620.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:17:00.437Z,1628986620.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:17:00.438Z,1628986620.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:17:00.843Z,1628986620.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31B,000,00778,189,80,80,68,FF
2021-08-15T00:17:00.843Z,1628986620.843 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:17:00.843Z,1628986620.843 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:17:00.848Z,1628986620.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:17:01.251Z,1628986621.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:17:01.645Z,1628986621.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,007A5,189,80,80,52,FF
2021-08-15T00:17:01.646Z,1628986621.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:17:02.089Z,1628986622.089 [Micromodem](INFO): Nmea in: $SNTTA,0.065065,,,,001702.06*42

2021-08-15T00:17:02.345Z,1628986622.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.920006 m, bearing: 43.095451 deg, deltaT: 4.518511 s, approachRate: 0.597543 m/s, LOS rate: 2.060306 deg/s, posRepo size: 4
2021-08-15T00:17:04.373Z,1628986624.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:17:04.525Z,1628986624.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:17:04.525Z,1628986624.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:17:04.525Z,1628986624.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:17:04.526Z,1628986624.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:17:04.981Z,1628986624.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,007A5,189,80,80,52,FF
2021-08-15T00:17:04.981Z,1628986624.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:17:04.981Z,1628986624.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:17:04.983Z,1628986624.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:17:05.338Z,1628986625.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:17:05.742Z,1628986625.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E6,000,007CD,189,80,80,75,FF
2021-08-15T00:17:05.742Z,1628986625.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:17:06.195Z,1628986626.195 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T00:17:06.246Z,1628986626.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.320000 m, bearing: 35.871740 deg, deltaT: 4.087774 s, approachRate: 0.587115 m/s, LOS rate: -1.767150 deg/s, posRepo size: 4
2021-08-15T00:17:06.582Z,1628986626.582 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001706.19*56

2021-08-15T00:17:07.781Z,1628986627.781 [Micromodem](INFO): Nmea in: $CAERR,001708,DATA_TIMEOUT,2*43

2021-08-15T00:17:08.193Z,1628986628.193 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-15T00:17:08.801Z,1628986628.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:17:08.986Z,1628986628.986 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:17:08.986Z,1628986628.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:17:08.986Z,1628986628.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:17:08.987Z,1628986628.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:17:09.385Z,1628986629.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E6,000,007CD,189,80,80,75,FF
2021-08-15T00:17:09.385Z,1628986629.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:17:09.385Z,1628986629.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:17:09.387Z,1628986629.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:17:09.804Z,1628986629.804 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-15T00:17:09.804Z,1628986629.804 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2021-08-15T00:17:10.191Z,1628986630.191 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,001708.771935,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*52

2021-08-15T00:17:10.191Z,1628986630.191 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,001708.771935,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*52

2021-08-15T00:17:10.234Z,1628986630.234 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T00:17:10.245Z,1628986630.245 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T00:17:11.440Z,1628986631.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:17:14.298Z,1628986634.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:17:15.048Z,1628986635.048 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.060782
2021-08-15T00:17:15.267Z,1628986635.267 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T00:17:17.330Z,1628986637.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:17:17.512Z,1628986637.512 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:17:17.512Z,1628986637.512 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:17:17.513Z,1628986637.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:17:17.513Z,1628986637.513 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:17:17.961Z,1628986637.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E6,000,007CD,189,80,80,75,FF
2021-08-15T00:17:17.961Z,1628986637.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:17:17.961Z,1628986637.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:17:20.064Z,1628986640.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:17:20.754Z,1628986640.754 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:17:21.155Z,1628986641.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:17:21.595Z,1628986641.595 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C6,000,0086F,189,80,80,6F,FF
2021-08-15T00:17:21.595Z,1628986641.595 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:17:22.039Z,1628986642.039 [Micromodem](INFO): Nmea in: $SNTTA,,0.461985,,,001721.97*4C

2021-08-15T00:17:22.102Z,1628986642.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.040001 m, bearing: 37.815001 deg, deltaT: 15.848868 s, approachRate: 0.613293 m/s, LOS rate: 0.122612 deg/s, posRepo size: 4
2021-08-15T00:17:24.483Z,1628986644.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:17:24.821Z,1628986644.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:17:24.821Z,1628986644.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:17:24.821Z,1628986644.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:17:24.822Z,1628986644.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:17:25.231Z,1628986645.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C6,000,0086F,189,80,80,6F,FF
2021-08-15T00:17:25.231Z,1628986645.231 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:17:25.231Z,1628986645.231 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:17:25.234Z,1628986645.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:17:25.323Z,1628986645.323 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T00:17:25.632Z,1628986645.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:17:26.042Z,1628986646.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,0089C,187,80,80,44,FF
2021-08-15T00:17:26.042Z,1628986646.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:17:26.479Z,1628986646.479 [Micromodem](INFO): Nmea in: $SNTTA,0.076421,,,,001726.44*44

2021-08-15T00:17:26.500Z,1628986646.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.740005 m, bearing: 91.727713 deg, deltaT: 4.483321 s, approachRate: 0.602233 m/s, LOS rate: 12.025173 deg/s, posRepo size: 4
2021-08-15T00:17:29.041Z,1628986649.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:17:29.365Z,1628986649.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:17:29.365Z,1628986649.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:17:29.365Z,1628986649.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:17:29.366Z,1628986649.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:17:29.762Z,1628986649.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,0089C,187,80,80,44,FF
2021-08-15T00:17:29.762Z,1628986649.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:17:29.762Z,1628986649.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:17:29.764Z,1628986649.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:17:30.363Z,1628986650.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:17:30.768Z,1628986650.768 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,008CA,186,80,80,68,FF
2021-08-15T00:17:30.769Z,1628986650.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:17:31.173Z,1628986651.173 [Micromodem](INFO): Nmea in: $SNTTA,0.069785,,,,001730.97*4E

2021-08-15T00:17:31.219Z,1628986651.219 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:17:31.259Z,1628986651.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.500008 m, bearing: 95.657400 deg, deltaT: 4.658779 s, approachRate: 0.592430 m/s, LOS rate: 0.843502 deg/s, posRepo size: 4
2021-08-15T00:17:32.095Z,1628986652.095 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T00:17:33.634Z,1628986653.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:17:33.989Z,1628986653.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:17:33.989Z,1628986653.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:17:33.989Z,1628986653.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:17:33.990Z,1628986653.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:17:34.477Z,1628986654.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,008CA,186,80,80,68,FF
2021-08-15T00:17:34.477Z,1628986654.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:17:34.478Z,1628986654.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:17:34.479Z,1628986654.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:17:34.936Z,1628986654.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:17:34.963Z,1628986654.963 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:17:35.289Z,1628986655.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E8,000,008FE,18A,80,80,7C,FF
2021-08-15T00:17:35.290Z,1628986655.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:17:35.729Z,1628986655.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001735.69*51

2021-08-15T00:17:35.783Z,1628986655.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.619995 m, bearing: 36.298419 deg, deltaT: 4.561101 s, approachRate: 0.684043 m/s, LOS rate: -13.014178 deg/s, posRepo size: 4
2021-08-15T00:17:37.943Z,1628986657.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:17:38.281Z,1628986658.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:17:38.281Z,1628986658.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:17:38.281Z,1628986658.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:17:38.282Z,1628986658.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:17:38.666Z,1628986658.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E8,000,008FE,18A,80,80,7C,FF
2021-08-15T00:17:38.666Z,1628986658.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:17:38.666Z,1628986658.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:17:38.668Z,1628986658.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:17:39.096Z,1628986659.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:17:39.489Z,1628986659.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AF,000,00929,189,80,80,7B,FF
2021-08-15T00:17:39.490Z,1628986659.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:17:39.993Z,1628986659.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001739.88*52

2021-08-15T00:17:40.039Z,1628986660.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.200005 m, bearing: 39.522340 deg, deltaT: 4.188116 s, approachRate: 0.616031 m/s, LOS rate: 0.769778 deg/s, posRepo size: 4
2021-08-15T00:17:41.973Z,1628986661.973 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T00:17:42.077Z,1628986662.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:17:42.325Z,1628986662.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:17:42.325Z,1628986662.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:17:42.325Z,1628986662.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:17:42.326Z,1628986662.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:17:42.534Z,1628986662.534 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 06411861210000005D000004003E0000000000000000151D80030C5669C08C7A9715BB984647EB38E3FBF583430439278525EE8D4E6D272C2CB74670F6A0BD50
2021-08-15T00:17:42.535Z,1628986662.535 [Micromodem](INFO): Outgoing frame #2, 18 bytes: 961C2FB7B8F43947D70A9B2B8F43E30BA800
2021-08-15T00:17:42.535Z,1628986662.535 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-15T00:17:42.974Z,1628986662.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AF,000,00929,189,80,80,7B,FF
2021-08-15T00:17:42.974Z,1628986662.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:17:42.974Z,1628986662.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:17:42.975Z,1628986662.975 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-15T00:17:42.977Z,1628986662.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:17:43.363Z,1628986663.363 [Micromodem](INFO): Nmea in: $CADRQ,001743,1,10,0,64,1*77

2021-08-15T00:17:43.363Z,1628986663.363 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,001743,1,10,0,64,1*77

2021-08-15T00:17:43.781Z,1628986663.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:17:44.186Z,1628986664.186 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001744.18*51

2021-08-15T00:17:44.607Z,1628986664.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:17:44.978Z,1628986664.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CB,000,03AAB,189,80,80,64,FF
2021-08-15T00:17:44.978Z,1628986664.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:17:44.987Z,1628986664.987 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T00:17:45.407Z,1628986665.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 863.640015 m, bearing: 38.156288 deg, deltaT: 5.477014 s, approachRate: 138.842072 m/s, LOS rate: -0.249415 deg/s, posRepo size: 4
2021-08-15T00:17:47.931Z,1628986667.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:17:48.205Z,1628986668.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:17:48.205Z,1628986668.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:17:48.205Z,1628986668.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:17:48.206Z,1628986668.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:17:48.618Z,1628986668.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CB,000,03AAB,189,80,80,64,FF
2021-08-15T00:17:48.618Z,1628986668.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:17:48.618Z,1628986668.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:17:48.620Z,1628986668.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:17:49.192Z,1628986669.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:17:49.578Z,1628986669.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,297,000,0098B,18A,80,80,85,FF
2021-08-15T00:17:49.578Z,1628986669.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:17:50.017Z,1628986670.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001749.83*5E

2021-08-15T00:17:50.072Z,1628986670.072 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-15T00:17:50.072Z,1628986670.072 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-15T00:17:50.072Z,1628986670.072 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-15T00:17:50.094Z,1628986670.094 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T00:17:50.120Z,1628986670.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.079994 m, bearing: 41.230515 deg, deltaT: 4.614535 s, approachRate: -163.518097 m/s, LOS rate: 0.666205 deg/s, posRepo size: 4
2021-08-15T00:17:50.241Z,1628986670.241 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-15T00:17:50.480Z,1628986670.480 [RDI_Pathfinder](INFO): Powering down
2021-08-15T00:17:51.384Z,1628986671.384 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-15T00:17:51.384Z,1628986671.384 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-15T00:17:52.443Z,1628986672.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:17:52.811Z,1628986672.811 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:17:52.812Z,1628986672.812 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:17:52.812Z,1628986672.812 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:17:52.813Z,1628986672.813 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:17:53.285Z,1628986673.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
297,000,0098B,18A,80,80,85,FF
2021-08-15T00:17:53.285Z,1628986673.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:17:53.285Z,1628986673.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:17:53.287Z,1628986673.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:17:53.693Z,1628986673.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:17:54.089Z,1628986674.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,009BD,189,80,80,76,FF
2021-08-15T00:17:54.089Z,1628986674.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:17:54.523Z,1628986674.523 [Micromodem](INFO): Nmea in: $SNTTA,,0.451532,,,001754.50*46

2021-08-15T00:17:54.555Z,1628986674.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.080002 m, bearing: 40.280020 deg, deltaT: 4.536589 s, approachRate: 0.661291 m/s, LOS rate: -0.209518 deg/s, posRepo size: 4
2021-08-15T00:17:55.130Z,1628986675.130 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T00:17:57.001Z,1628986677.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:17:57.353Z,1628986677.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:17:57.354Z,1628986677.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:17:57.354Z,1628986677.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:17:57.355Z,1628986677.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:17:57.769Z,1628986677.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,009BD,189,80,80,76,FF
2021-08-15T00:17:57.769Z,1628986677.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:17:57.769Z,1628986677.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:17:57.771Z,1628986677.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:17:58.169Z,1628986678.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:17:58.581Z,1628986678.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A2,000,009ED,189,80,80,80,FF
2021-08-15T00:17:58.582Z,1628986678.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:17:59.013Z,1628986679.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001758.98*54

2021-08-15T00:17:59.055Z,1628986679.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.960007 m, bearing: 40.281327 deg, deltaT: 4.448253 s, approachRate: 0.647446 m/s, LOS rate: 0.000294 deg/s, posRepo size: 4
2021-08-15T00:18:00.221Z,1628986680.221 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T00:18:01.627Z,1628986681.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:18:01.809Z,1628986681.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:18:01.809Z,1628986681.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:18:01.809Z,1628986681.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:18:01.810Z,1628986681.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:18:02.201Z,1628986682.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A2,000,009ED,189,80,80,80,FF
2021-08-15T00:18:02.201Z,1628986682.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:18:02.201Z,1628986682.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:18:02.203Z,1628986682.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:18:02.628Z,1628986682.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:18:03.013Z,1628986683.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AD,000,00A1B,189,80,80,70,FF
2021-08-15T00:18:03.014Z,1628986683.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:18:03.458Z,1628986683.458 [Micromodem](INFO): Nmea in: $SNTTA,0.077905,,,,001803.41*43

2021-08-15T00:18:03.479Z,1628986683.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.719994 m, bearing: 40.269815 deg, deltaT: 4.448166 s, approachRate: 0.620477 m/s, LOS rate: -0.002588 deg/s, posRepo size: 4
2021-08-15T00:18:05.071Z,1628986685.071 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T00:18:06.153Z,1628986686.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:18:06.317Z,1628986686.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:18:06.317Z,1628986686.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:18:06.317Z,1628986686.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:18:06.318Z,1628986686.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:18:06.723Z,1628986686.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AD,000,00A1B,189,80,80,70,FF
2021-08-15T00:18:06.723Z,1628986686.723 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:18:06.723Z,1628986686.723 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:18:06.725Z,1628986686.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:18:07.133Z,1628986687.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:18:07.540Z,1628986687.540 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,245,000,00A48,189,80,80,68,FF
2021-08-15T00:18:07.540Z,1628986687.540 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:18:07.989Z,1628986687.989 [Micromodem](INFO): Nmea in: $SNTTA,0.094122,,,,001807.93*48

2021-08-15T00:18:08.242Z,1628986688.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.419998 m, bearing: 45.390285 deg, deltaT: 4.537327 s, approachRate: 0.595065 m/s, LOS rate: 1.128521 deg/s, posRepo size: 4
2021-08-15T00:18:10.122Z,1628986690.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:18:10.459Z,1628986690.459 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:18:10.459Z,1628986690.459 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:18:10.459Z,1628986690.459 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:18:10.460Z,1628986690.460 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:18:10.877Z,1628986690.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
245,000,00A48,189,80,80,68,FF
2021-08-15T00:18:10.877Z,1628986690.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:18:10.877Z,1628986690.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:18:10.879Z,1628986690.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:18:11.277Z,1628986691.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:18:11.697Z,1628986691.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26A,000,00A6E,18A,80,80,72,FF
2021-08-15T00:18:11.698Z,1628986691.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:18:12.093Z,1628986692.093 [Micromodem](INFO): Nmea in: $SNTTA,,0.334720,,,001812.09*42

2021-08-15T00:18:12.347Z,1628986692.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.699997 m, bearing: 43.093740 deg, deltaT: 4.166742 s, approachRate: 0.547190 m/s, LOS rate: -0.551161 deg/s, posRepo size: 4
2021-08-15T00:18:13.357Z,1628986693.357 [Micromodem](INFO): Nmea in: $CAERR,001813,DATA_TIMEOUT,1*45

2021-08-15T00:18:14.414Z,1628986694.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:18:14.577Z,1628986694.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:18:14.577Z,1628986694.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:18:14.577Z,1628986694.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:18:14.578Z,1628986694.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:18:14.987Z,1628986694.987 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26A,000,00A6E,18A,80,80,72,FF
2021-08-15T00:18:14.987Z,1628986694.987 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:18:14.987Z,1628986694.987 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:18:14.989Z,1628986694.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:18:15.388Z,1628986695.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:18:15.789Z,1628986695.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24A,000,00A9A,189,80,80,65,FF
2021-08-15T00:18:15.789Z,1628986695.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:18:16.230Z,1628986696.230 [Micromodem](INFO): Nmea in: $SNTTA,0.083031,,,,001816.20*45

2021-08-15T00:18:16.281Z,1628986696.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.340004 m, bearing: 44.753390 deg, deltaT: 4.097304 s, approachRate: 0.644328 m/s, LOS rate: 0.405059 deg/s, posRepo size: 4
2021-08-15T00:18:18.873Z,1628986698.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:18:19.081Z,1628986699.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:18:19.081Z,1628986699.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:18:19.081Z,1628986699.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:18:19.082Z,1628986699.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:18:19.471Z,1628986699.471 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24A,000,00A9A,189,80,80,65,FF
2021-08-15T00:18:19.471Z,1628986699.471 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:18:19.471Z,1628986699.471 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:18:19.474Z,1628986699.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:18:19.879Z,1628986699.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:18:20.293Z,1628986700.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25B,000,00ACE,189,80,80,6C,FF
2021-08-15T00:18:20.293Z,1628986700.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:18:20.726Z,1628986700.726 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001820.68*5B

2021-08-15T00:18:20.991Z,1628986700.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.459991 m, bearing: 43.809048 deg, deltaT: 4.483482 s, approachRate: 0.695885 m/s, LOS rate: -0.210627 deg/s, posRepo size: 4
2021-08-15T00:18:23.235Z,1628986703.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:18:23.594Z,1628986703.594 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:18:23.594Z,1628986703.594 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:18:23.595Z,1628986703.595 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:18:23.595Z,1628986703.595 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:18:24.013Z,1628986704.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25B,000,00ACE,189,80,80,6C,FF
2021-08-15T00:18:24.013Z,1628986704.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:18:24.013Z,1628986704.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:18:24.015Z,1628986704.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:18:24.421Z,1628986704.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:18:24.817Z,1628986704.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,255,000,00AFF,189,80,80,64,FF
2021-08-15T00:18:24.817Z,1628986704.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:18:25.369Z,1628986705.369 [Micromodem](INFO): Nmea in: $SNTTA,0.089498,,,,001825.22*4A

2021-08-15T00:18:25.391Z,1628986705.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.399994 m, bearing: 43.708952 deg, deltaT: 4.797519 s, approachRate: 0.612817 m/s, LOS rate: -0.020864 deg/s, posRepo size: 4
2021-08-15T00:18:27.855Z,1628986707.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:18:28.221Z,1628986708.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:18:28.221Z,1628986708.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:18:28.222Z,1628986708.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:18:28.223Z,1628986708.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:18:28.630Z,1628986708.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
255,000,00AFF,189,80,80,64,FF
2021-08-15T00:18:28.630Z,1628986708.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:18:28.630Z,1628986708.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:18:28.632Z,1628986708.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:18:29.043Z,1628986709.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:18:29.441Z,1628986709.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,233,000,00B27,189,80,80,67,FF
2021-08-15T00:18:29.441Z,1628986709.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:18:29.878Z,1628986709.878 [Micromodem](INFO): Nmea in: $SNTTA,0.328741,,,,001829.84*45

2021-08-15T00:18:30.014Z,1628986710.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.800003 m, bearing: 45.334940 deg, deltaT: 4.340416 s, approachRate: 0.552944 m/s, LOS rate: 0.374616 deg/s, posRepo size: 4
2021-08-15T00:18:32.053Z,1628986712.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:18:32.365Z,1628986712.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:18:32.365Z,1628986712.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:18:32.365Z,1628986712.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:18:32.366Z,1628986712.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:18:32.762Z,1628986712.763 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
233,000,00B27,189,80,80,67,FF
2021-08-15T00:18:32.763Z,1628986712.763 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:18:32.763Z,1628986712.763 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:18:32.765Z,1628986712.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:18:33.172Z,1628986713.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:18:33.570Z,1628986713.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,00B5B,189,80,80,70,FF
2021-08-15T00:18:33.570Z,1628986713.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:18:34.137Z,1628986714.137 [Micromodem](INFO): Nmea in: $SNTTA,0.097733,,,,001833.97*4E

2021-08-15T00:18:34.175Z,1628986714.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.919998 m, bearing: 44.106015 deg, deltaT: 4.371992 s, approachRate: 0.713632 m/s, LOS rate: -0.281090 deg/s, posRepo size: 4
2021-08-15T00:18:36.559Z,1628986716.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:18:36.965Z,1628986716.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:18:36.965Z,1628986716.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:18:36.965Z,1628986716.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:18:36.966Z,1628986716.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:18:37.345Z,1628986717.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,00B5B,189,80,80,70,FF
2021-08-15T00:18:37.345Z,1628986717.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:18:37.346Z,1628986717.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:18:37.347Z,1628986717.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:18:37.760Z,1628986717.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:18:38.243Z,1628986718.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,00B89,189,80,80,66,FF
2021-08-15T00:18:38.244Z,1628986718.244 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:18:38.641Z,1628986718.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001838.56*5F

2021-08-15T00:18:38.675Z,1628986718.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.680008 m, bearing: 46.724580 deg, deltaT: 4.406808 s, approachRate: 0.626306 m/s, LOS rate: 0.594209 deg/s, posRepo size: 4
2021-08-15T00:18:41.010Z,1628986721.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:18:41.169Z,1628986721.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:18:41.169Z,1628986721.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:18:41.169Z,1628986721.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:18:41.170Z,1628986721.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:18:41.587Z,1628986721.587 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,00B89,189,80,80,66,FF
2021-08-15T00:18:41.587Z,1628986721.587 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:18:41.587Z,1628986721.587 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:18:41.589Z,1628986721.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:18:41.986Z,1628986721.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:18:42.393Z,1628986722.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28B,000,00BB4,189,80,80,37,FF
2021-08-15T00:18:42.394Z,1628986722.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:18:42.806Z,1628986722.806 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001842.80*59

2021-08-15T00:18:42.822Z,1628986722.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.260010 m, bearing: 41.926017 deg, deltaT: 4.141739 s, approachRate: 0.622927 m/s, LOS rate: -1.158587 deg/s, posRepo size: 4
2021-08-15T00:18:44.979Z,1628986724.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:18:45.258Z,1628986725.258 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:18:45.258Z,1628986725.258 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:18:45.258Z,1628986725.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:18:45.259Z,1628986725.259 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:18:45.705Z,1628986725.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28B,000,00BB4,189,80,80,37,FF
2021-08-15T00:18:45.705Z,1628986725.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:18:45.706Z,1628986725.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:18:45.712Z,1628986725.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:18:46.107Z,1628986726.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:18:46.543Z,1628986726.543 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FF,000,00BDF,187,80,80,60,FF
2021-08-15T00:18:46.545Z,1628986726.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:18:46.973Z,1628986726.973 [Micromodem](INFO): Nmea in: $SNTTA,0.232390,,,,001846.92*49

2021-08-15T00:18:47.020Z,1628986727.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.839996 m, bearing: 49.854422 deg, deltaT: 4.150151 s, approachRate: 0.621661 m/s, LOS rate: 1.910390 deg/s, posRepo size: 4
2021-08-15T00:18:47.774Z,1628986727.774 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T00:18:48.365Z,1628986728.365 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 06411861210000005D000004003E0000000000000000151D80030C5669C08C7A9715BB984647EB38E3FBF583430439278525EE8D4E6D272C2CB74670F6A0BD50
2021-08-15T00:18:48.366Z,1628986728.366 [Micromodem](INFO): Outgoing frame #2, 18 bytes: 961C2FB7B8F43947D70A9B2B8F43E30BA800
2021-08-15T00:18:48.366Z,1628986728.366 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-15T00:18:48.384Z,1628986728.384 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:18:48.629Z,1628986728.629 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-15T00:18:49.045Z,1628986729.045 [Micromodem](INFO): Nmea in: $CADRQ,001849,1,10,0,64,1*72

2021-08-15T00:18:49.045Z,1628986729.045 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861210000005D000004003E0000000000000000151D80030C5669C08C7A9715BB984647EB38E3FBF583430439278525EE8D4E6D272C2CB74670F6A0BD50*3D

2021-08-15T00:18:49.189Z,1628986729.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:18:49.425Z,1628986729.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:18:49.425Z,1628986729.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:18:49.425Z,1628986729.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:18:49.426Z,1628986729.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:18:49.433Z,1628986729.433 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T00:18:49.825Z,1628986729.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FF,000,00BDF,187,80,80,60,FF
2021-08-15T00:18:49.825Z,1628986729.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:18:49.825Z,1628986729.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:18:49.827Z,1628986729.827 [Micromodem](INFO): Nmea in: $CADRQ,001850,1,10,0,64,2*79

2021-08-15T00:18:49.827Z,1628986729.827 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,961C2FB7B8F43947D70A9B2B8F43E30BA800*39

2021-08-15T00:18:50.231Z,1628986730.231 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,18*42

2021-08-15T00:18:50.232Z,1628986730.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:18:50.690Z,1628986730.690 [Micromodem](INFO): Nmea in: $CATXP,82*78

2021-08-15T00:18:50.690Z,1628986730.690 [Micromodem](ERROR): Response from modem unexpected: $CATXP,82*78

2021-08-15T00:18:51.986Z,1628986731.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:18:53.110Z,1628986733.110 [Micromodem](INFO): Nmea in: $CATXF,82*6E

2021-08-15T00:18:53.110Z,1628986733.110 [Micromodem](ERROR): Response from modem unexpected: $CATXF,82*6E

2021-08-15T00:18:53.518Z,1628986733.518 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,001851.023642,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*55

2021-08-15T00:18:53.519Z,1628986733.519 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,001851.023642,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*55

2021-08-15T00:18:54.743Z,1628986734.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:18:55.544Z,1628986735.544 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.117848
2021-08-15T00:18:57.251Z,1628986737.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:18:57.609Z,1628986737.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:18:57.609Z,1628986737.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:18:57.609Z,1628986737.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:18:57.610Z,1628986737.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:18:58.013Z,1628986738.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FF,000,00BDF,187,80,80,60,FF
2021-08-15T00:18:58.013Z,1628986738.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:18:58.013Z,1628986738.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:19:00.155Z,1628986740.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:19:01.294Z,1628986741.294 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:19:01.752Z,1628986741.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:19:02.121Z,1628986742.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C5,000,00C83,186,80,80,5B,FF
2021-08-15T00:19:02.121Z,1628986742.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:19:02.553Z,1628986742.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001902.50*51

2021-08-15T00:19:02.595Z,1628986742.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.680008 m, bearing: 53.065160 deg, deltaT: 15.587524 s, approachRate: 0.631275 m/s, LOS rate: 0.205981 deg/s, posRepo size: 4
2021-08-15T00:19:05.038Z,1628986745.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:19:05.353Z,1628986745.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:19:05.354Z,1628986745.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:19:05.354Z,1628986745.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:19:05.355Z,1628986745.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:19:05.833Z,1628986745.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C5,000,00C83,186,80,80,5B,FF
2021-08-15T00:19:05.834Z,1628986745.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:19:05.834Z,1628986745.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:19:05.835Z,1628986745.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:19:06.231Z,1628986746.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:19:07.050Z,1628986747.050 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001907.05*54

2021-08-15T00:19:07.941Z,1628986747.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:19:09.449Z,1628986749.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,5B,FF
2021-08-15T00:19:09.450Z,1628986749.450 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,5B,FF
2021-08-15T00:19:09.450Z,1628986749.450 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:19:10.806Z,1628986750.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:19:11.165Z,1628986751.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:19:11.165Z,1628986751.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:19:11.165Z,1628986751.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:19:11.166Z,1628986751.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:19:11.563Z,1628986751.563 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,5B,FF
2021-08-15T00:19:11.563Z,1628986751.563 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:19:11.565Z,1628986751.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:19:11.567Z,1628986751.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:19:11.988Z,1628986751.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:19:12.850Z,1628986752.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001912.78*5A

2021-08-15T00:19:13.317Z,1628986753.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:19:13.682Z,1628986753.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,03D17,186,80,80,69,FF
2021-08-15T00:19:13.683Z,1628986753.683 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:19:14.114Z,1628986754.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 900.840027 m, bearing: 68.816997 deg, deltaT: 11.623454 s, approachRate: 64.194344 m/s, LOS rate: 1.355177 deg/s, posRepo size: 4
2021-08-15T00:19:16.749Z,1628986756.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:19:16.953Z,1628986756.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:19:16.953Z,1628986756.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:19:16.953Z,1628986756.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:19:16.954Z,1628986756.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:19:17.333Z,1628986757.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,03D17,186,80,80,69,FF
2021-08-15T00:19:17.333Z,1628986757.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:19:17.333Z,1628986757.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:19:17.335Z,1628986757.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:19:17.756Z,1628986757.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:19:18.562Z,1628986758.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001918.55*5F

2021-08-15T00:19:19.426Z,1628986759.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,03D50,186,80,80,69,FF
2021-08-15T00:19:19.427Z,1628986759.427 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:19:19.952Z,1628986759.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 904.260010 m, bearing: 63.966470 deg, deltaT: 5.673934 s, approachRate: 0.602753 m/s, LOS rate: -0.854879 deg/s, posRepo size: 4
2021-08-15T00:19:21.993Z,1628986761.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:19:22.297Z,1628986762.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:19:22.297Z,1628986762.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:19:22.297Z,1628986762.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:19:22.298Z,1628986762.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:19:22.694Z,1628986762.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,03D50,186,80,80,69,FF
2021-08-15T00:19:22.694Z,1628986762.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:19:22.694Z,1628986762.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:19:22.696Z,1628986762.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:19:23.285Z,1628986763.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:19:23.699Z,1628986763.699 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,00D65,187,80,80,6F,FF
2021-08-15T00:19:23.705Z,1628986763.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:19:24.098Z,1628986764.098 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001923.90*5E

2021-08-15T00:19:24.171Z,1628986764.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.240005 m, bearing: 67.083338 deg, deltaT: 4.356410 s, approachRate: -168.951050 m/s, LOS rate: 0.715467 deg/s, posRepo size: 4
2021-08-15T00:19:26.617Z,1628986766.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:19:26.987Z,1628986766.987 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:19:27.004Z,1628986767.004 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:19:27.004Z,1628986767.004 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:19:27.005Z,1628986767.005 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:19:27.389Z,1628986767.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,00D65,187,80,80,6F,FF
2021-08-15T00:19:27.389Z,1628986767.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:19:27.389Z,1628986767.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:19:27.391Z,1628986767.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:19:27.777Z,1628986767.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:19:28.187Z,1628986768.187 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,00D65,187,80,80,6F,FF
2021-08-15T00:19:28.188Z,1628986768.188 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:19:28.663Z,1628986768.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.240005 m, bearing: 67.012892 deg, deltaT: 4.458542 s, approachRate: 0.000000 m/s, LOS rate: -0.015800 deg/s, posRepo size: 4
2021-08-15T00:19:31.272Z,1628986771.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:19:31.461Z,1628986771.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:19:31.461Z,1628986771.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:19:31.461Z,1628986771.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:19:31.462Z,1628986771.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:19:31.870Z,1628986771.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,00D65,187,80,80,6F,FF
2021-08-15T00:19:31.870Z,1628986771.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:19:31.870Z,1628986771.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:19:31.920Z,1628986771.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:19:32.297Z,1628986772.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:19:33.100Z,1628986773.100 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,00DD0,186,80,80,7E,FF
2021-08-15T00:19:33.101Z,1628986773.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:19:33.108Z,1628986773.108 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:19:33.506Z,1628986773.506 [Micromodem](INFO): Nmea in: $SNTTA,0.118724,,,,001933.20*43

2021-08-15T00:19:33.546Z,1628986773.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.660004 m, bearing: 65.537796 deg, deltaT: 4.858781 s, approachRate: 1.321319 m/s, LOS rate: -0.303594 deg/s, posRepo size: 4
2021-08-15T00:19:36.040Z,1628986776.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:19:36.333Z,1628986776.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:19:36.333Z,1628986776.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:19:36.334Z,1628986776.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:19:36.335Z,1628986776.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:19:36.731Z,1628986776.731 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,00DD0,186,80,80,7E,FF
2021-08-15T00:19:36.731Z,1628986776.731 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:19:36.732Z,1628986776.732 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:19:36.735Z,1628986776.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:19:37.141Z,1628986777.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:19:37.607Z,1628986777.607 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,00E08,186,80,80,7D,FF
2021-08-15T00:19:37.607Z,1628986777.607 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:19:37.997Z,1628986777.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001937.94*5F

2021-08-15T00:19:38.062Z,1628986778.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.020004 m, bearing: 67.891035 deg, deltaT: 4.507815 s, approachRate: 0.745372 m/s, LOS rate: 0.522035 deg/s, posRepo size: 4
2021-08-15T00:19:40.427Z,1628986780.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:19:40.833Z,1628986780.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:19:40.833Z,1628986780.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:19:40.834Z,1628986780.834 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:19:40.834Z,1628986780.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:19:41.229Z,1628986781.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,00E08,186,80,80,7D,FF
2021-08-15T00:19:41.229Z,1628986781.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:19:41.229Z,1628986781.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:19:41.232Z,1628986781.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:19:41.787Z,1628986781.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:19:42.145Z,1628986782.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,00E2D,186,80,80,6C,FF
2021-08-15T00:19:42.146Z,1628986782.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:19:42.614Z,1628986782.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.240005 m, bearing: 69.670839 deg, deltaT: 4.544167 s, approachRate: 0.488539 m/s, LOS rate: 0.391668 deg/s, posRepo size: 4
2021-08-15T00:19:45.070Z,1628986785.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:19:45.385Z,1628986785.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:19:45.385Z,1628986785.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:19:45.385Z,1628986785.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:19:45.386Z,1628986785.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:19:45.794Z,1628986785.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,00E2D,186,80,80,6C,FF
2021-08-15T00:19:45.794Z,1628986785.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:19:45.794Z,1628986785.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:19:45.796Z,1628986785.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:19:46.209Z,1628986786.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:19:47.034Z,1628986787.034 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001947.01*54

2021-08-15T00:19:48.093Z,1628986788.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:19:48.297Z,1628986788.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B2,000,059F8,186,80,80,8A,FF
2021-08-15T00:19:48.297Z,1628986788.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:19:48.716Z,1628986788.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1344.420044 m, bearing: 67.099334 deg, deltaT: 6.142364 s, approachRate: 189.532898 m/s, LOS rate: -0.418651 deg/s, posRepo size: 4
2021-08-15T00:19:50.837Z,1628986790.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:19:51.173Z,1628986791.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:19:51.173Z,1628986791.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:19:51.173Z,1628986791.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:19:51.174Z,1628986791.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:19:51.577Z,1628986791.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B2,000,059F8,186,80,80,8A,FF
2021-08-15T00:19:51.577Z,1628986791.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:19:51.577Z,1628986791.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:19:51.579Z,1628986791.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:19:51.989Z,1628986791.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:19:52.402Z,1628986792.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,059F8,186,80,80,8A,FF
2021-08-15T00:19:52.403Z,1628986792.403 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:19:52.826Z,1628986792.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001952.79*5F

2021-08-15T00:19:52.850Z,1628986792.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1344.420044 m, bearing: 70.250743 deg, deltaT: 4.142570 s, approachRate: 0.000000 m/s, LOS rate: 0.760738 deg/s, posRepo size: 4
2021-08-15T00:19:53.609Z,1628986793.609 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T00:19:54.192Z,1628986794.192 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 06411861210000005D000004003E0000000000000000151D80030C5669C08C7A9715BB984647EB38E3FBF583430439278525EE8D4E6D272C2CB74670F6A0BD50
2021-08-15T00:19:54.193Z,1628986794.193 [Micromodem](INFO): Outgoing frame #2, 18 bytes: 961C2FB7B8F43947D70A9B2B8F43E30BA800
2021-08-15T00:19:54.193Z,1628986794.193 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-15T00:19:54.701Z,1628986794.701 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-15T00:19:55.074Z,1628986795.074 [Micromodem](INFO): Nmea in: $CADRQ,001955,1,10,0,64,1*7E

2021-08-15T00:19:55.075Z,1628986795.075 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861210000005D000004003E0000000000000000151D80030C5669C08C7A9715BB984647EB38E3FBF583430439278525EE8D4E6D272C2CB74670F6A0BD50*3D

2021-08-15T00:19:55.210Z,1628986795.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:19:55.481Z,1628986795.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:19:55.481Z,1628986795.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:19:55.482Z,1628986795.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:19:55.483Z,1628986795.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:19:55.489Z,1628986795.489 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T00:19:55.878Z,1628986795.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,059F8,186,80,80,8A,FF
2021-08-15T00:19:55.878Z,1628986795.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:19:55.878Z,1628986795.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:19:55.918Z,1628986795.918 [Micromodem](INFO): Nmea in: $CADRQ,001956,1,10,0,64,2*7E

2021-08-15T00:19:55.924Z,1628986795.924 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,961C2FB7B8F43947D70A9B2B8F43E30BA800*39

2021-08-15T00:19:56.290Z,1628986796.290 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,18*42

2021-08-15T00:19:56.290Z,1628986796.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:19:56.718Z,1628986796.718 [Micromodem](INFO): Nmea in: $CATXP,82*78

2021-08-15T00:19:56.718Z,1628986796.718 [Micromodem](ERROR): Response from modem unexpected: $CATXP,82*78

2021-08-15T00:19:58.030Z,1628986798.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:19:59.142Z,1628986799.142 [Micromodem](INFO): Nmea in: $CATXF,82*6E

2021-08-15T00:19:59.143Z,1628986799.143 [Micromodem](ERROR): Response from modem unexpected: $CATXF,82*6E

2021-08-15T00:19:59.563Z,1628986799.563 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,001957.125023,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*54

2021-08-15T00:19:59.563Z,1628986799.563 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,001957.125023,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*54

2021-08-15T00:20:01.038Z,1628986801.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:20:01.572Z,1628986801.572 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.089503
2021-08-15T00:20:03.721Z,1628986803.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:20:04.053Z,1628986804.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:20:04.053Z,1628986804.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:20:04.054Z,1628986804.054 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:20:04.054Z,1628986804.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:20:04.449Z,1628986804.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,059F8,186,80,80,8A,FF
2021-08-15T00:20:04.449Z,1628986804.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:20:04.450Z,1628986804.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:20:06.524Z,1628986806.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:20:07.314Z,1628986807.314 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:20:07.752Z,1628986807.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:20:08.553Z,1628986808.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,00F4E,185,80,80,83,FF
2021-08-15T00:20:08.553Z,1628986808.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:20:08.581Z,1628986808.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002008.53*52

2021-08-15T00:20:09.205Z,1628986809.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.579987 m, bearing: 73.777197 deg, deltaT: 16.161213 s, approachRate: -70.962502 m/s, LOS rate: 0.218205 deg/s, posRepo size: 4
2021-08-15T00:20:11.447Z,1628986811.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:20:11.808Z,1628986811.808 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:20:11.808Z,1628986811.808 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:20:11.808Z,1628986811.808 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:20:11.809Z,1628986811.809 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:20:12.214Z,1628986812.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,00F4E,185,80,80,83,FF
2021-08-15T00:20:12.214Z,1628986812.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:20:12.214Z,1628986812.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:20:12.216Z,1628986812.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:20:12.616Z,1628986812.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:20:13.493Z,1628986813.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,00F74,184,80,80,54,FF
2021-08-15T00:20:13.493Z,1628986813.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:20:13.497Z,1628986813.497 [Micromodem](INFO): Nmea in: $SNTTA,0.135585,,,,002013.43*48

2021-08-15T00:20:13.969Z,1628986813.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.860001 m, bearing: 74.992772 deg, deltaT: 4.925098 s, approachRate: 0.462938 m/s, LOS rate: 0.246812 deg/s, posRepo size: 4
2021-08-15T00:20:16.378Z,1628986816.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:20:16.729Z,1628986816.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:20:16.729Z,1628986816.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:20:16.729Z,1628986816.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:20:16.730Z,1628986816.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:20:17.129Z,1628986817.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,00F74,184,80,80,54,FF
2021-08-15T00:20:17.129Z,1628986817.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:20:17.129Z,1628986817.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:20:17.131Z,1628986817.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:20:17.553Z,1628986817.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:20:17.966Z,1628986817.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,00F74,184,80,80,54,FF
2021-08-15T00:20:17.966Z,1628986817.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:20:17.970Z,1628986817.970 [Micromodem](INFO): Nmea in: $SNTTA,0.137636,0.210824,,,002018.34*59

2021-08-15T00:20:18.380Z,1628986818.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.860001 m, bearing: 75.202159 deg, deltaT: 4.526826 s, approachRate: 0.000000 m/s, LOS rate: 0.046255 deg/s, posRepo size: 4
2021-08-15T00:20:20.640Z,1628986820.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:20:20.993Z,1628986820.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:20:20.993Z,1628986820.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:20:20.993Z,1628986820.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:20:20.994Z,1628986820.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:20:21.402Z,1628986821.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,00F74,184,80,80,54,FF
2021-08-15T00:20:21.402Z,1628986821.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:20:21.402Z,1628986821.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:20:21.405Z,1628986821.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:20:21.801Z,1628986821.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:20:22.282Z,1628986822.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,00FE1,184,80,80,54,FF
2021-08-15T00:20:22.282Z,1628986822.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:20:22.677Z,1628986822.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002022.61*5B

2021-08-15T00:20:22.720Z,1628986822.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.399979 m, bearing: 73.963955 deg, deltaT: 4.276175 s, approachRate: 1.529399 m/s, LOS rate: -0.289559 deg/s, posRepo size: 4
2021-08-15T00:20:25.138Z,1628986825.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:20:25.509Z,1628986825.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:20:25.509Z,1628986825.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:20:25.509Z,1628986825.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:20:25.510Z,1628986825.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:20:25.914Z,1628986825.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,00FE1,184,80,80,54,FF
2021-08-15T00:20:25.914Z,1628986825.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:20:25.914Z,1628986825.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:20:25.920Z,1628986825.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:20:26.325Z,1628986826.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:20:27.165Z,1628986827.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,01011,186,80,80,7B,FF
2021-08-15T00:20:27.165Z,1628986827.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:20:27.172Z,1628986827.172 [Micromodem](INFO): Nmea in: $SNTTA,0.141359,,,,002027.13*4E

2021-08-15T00:20:27.610Z,1628986827.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.279984 m, bearing: 70.071095 deg, deltaT: 4.878624 s, approachRate: 0.590331 m/s, LOS rate: -0.797942 deg/s, posRepo size: 4
2021-08-15T00:20:30.119Z,1628986830.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:20:30.404Z,1628986830.404 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:20:30.404Z,1628986830.404 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:20:30.404Z,1628986830.404 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:20:30.405Z,1628986830.405 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:20:30.954Z,1628986830.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,01011,186,80,80,7B,FF
2021-08-15T00:20:30.955Z,1628986830.955 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:20:30.955Z,1628986830.955 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:20:31.005Z,1628986831.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:20:31.580Z,1628986831.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:20:31.981Z,1628986831.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01C,000,0103C,185,80,80,51,FF
2021-08-15T00:20:31.982Z,1628986831.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:20:32.389Z,1628986832.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002032.21*5E

2021-08-15T00:20:32.443Z,1628986832.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.860001 m, bearing: 74.734140 deg, deltaT: 4.866150 s, approachRate: 0.530197 m/s, LOS rate: 0.958262 deg/s, posRepo size: 4
2021-08-15T00:20:35.143Z,1628986835.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:20:35.309Z,1628986835.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:20:35.309Z,1628986835.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:20:35.309Z,1628986835.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:20:35.310Z,1628986835.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:20:35.745Z,1628986835.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01C,000,0103C,185,80,80,51,FF
2021-08-15T00:20:35.745Z,1628986835.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:20:35.745Z,1628986835.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:20:35.747Z,1628986835.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:20:36.136Z,1628986836.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:20:37.009Z,1628986837.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,0106C,184,80,80,5C,FF
2021-08-15T00:20:37.010Z,1628986837.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:20:37.096Z,1628986837.096 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002036.96*56

2021-08-15T00:20:37.452Z,1628986837.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.740005 m, bearing: 72.608224 deg, deltaT: 5.113375 s, approachRate: 0.563230 m/s, LOS rate: -0.415756 deg/s, posRepo size: 4
2021-08-15T00:20:39.886Z,1628986839.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:20:40.234Z,1628986840.234 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:20:40.234Z,1628986840.234 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:20:40.234Z,1628986840.234 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:20:40.235Z,1628986840.235 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:20:40.637Z,1628986840.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,0106C,184,80,80,5C,FF
2021-08-15T00:20:40.637Z,1628986840.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:20:40.637Z,1628986840.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:20:40.639Z,1628986840.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:20:41.045Z,1628986841.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:20:41.878Z,1628986841.878 [Micromodem](INFO): Nmea in: $SNTTA,0.415386,,,,002041.85*47

2021-08-15T00:20:42.261Z,1628986842.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,059,000,03203,184,80,80,47,FF
2021-08-15T00:20:42.262Z,1628986842.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:20:42.704Z,1628986842.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 730.679993 m, bearing: 71.482615 deg, deltaT: 5.134804 s, approachRate: 100.479004 m/s, LOS rate: -0.219212 deg/s, posRepo size: 4
2021-08-15T00:20:45.162Z,1628986845.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:20:45.489Z,1628986845.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:20:45.489Z,1628986845.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:20:45.489Z,1628986845.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:20:45.490Z,1628986845.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:20:46.042Z,1628986846.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
059,000,03203,184,80,80,47,FF
2021-08-15T00:20:46.042Z,1628986846.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:20:46.042Z,1628986846.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:20:46.044Z,1628986846.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:20:46.450Z,1628986846.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:20:47.267Z,1628986847.267 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,010E4,186,80,80,5D,FF
2021-08-15T00:20:47.267Z,1628986847.267 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:20:47.270Z,1628986847.270 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002047.26*5B

2021-08-15T00:20:47.972Z,1628986847.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.939987 m, bearing: 70.244138 deg, deltaT: 5.012698 s, approachRate: -101.490250 m/s, LOS rate: -0.247068 deg/s, posRepo size: 4
2021-08-15T00:20:50.184Z,1628986850.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:20:50.569Z,1628986850.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:20:50.570Z,1628986850.570 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:20:50.570Z,1628986850.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:20:50.571Z,1628986850.571 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:20:50.978Z,1628986850.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,010E4,186,80,80,5D,FF
2021-08-15T00:20:50.978Z,1628986850.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:20:50.978Z,1628986850.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:20:50.980Z,1628986850.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:20:51.373Z,1628986851.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:20:52.243Z,1628986852.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,060,000,01113,187,80,80,61,FF
2021-08-15T00:20:52.244Z,1628986852.244 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:20:52.249Z,1628986852.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002052.19*53

2021-08-15T00:20:52.659Z,1628986852.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.759995 m, bearing: 70.931098 deg, deltaT: 4.946209 s, approachRate: 0.570135 m/s, LOS rate: 0.138886 deg/s, posRepo size: 4
2021-08-15T00:20:55.182Z,1628986855.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:20:55.494Z,1628986855.494 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:20:55.495Z,1628986855.495 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:20:55.495Z,1628986855.495 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:20:55.516Z,1628986855.516 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:20:55.930Z,1628986855.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
060,000,01113,187,80,80,61,FF
2021-08-15T00:20:55.930Z,1628986855.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:20:55.930Z,1628986855.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:20:55.932Z,1628986855.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:20:56.315Z,1628986856.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:20:57.128Z,1628986857.128 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,01148,184,80,80,6C,FF
2021-08-15T00:20:57.129Z,1628986857.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:20:57.144Z,1628986857.144 [Micromodem](INFO): Nmea in: $SNTTA,0.154231,,,,002057.14*45

2021-08-15T00:20:57.549Z,1628986857.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 227.940002 m, bearing: 73.240931 deg, deltaT: 4.915638 s, approachRate: 0.646917 m/s, LOS rate: 0.469895 deg/s, posRepo size: 4
2021-08-15T00:20:59.542Z,1628986859.542 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T00:21:00.197Z,1628986860.197 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 06411861210000005D000004003E0000000000000000151D80030C5669C08C7A9715BB984647EB38E3FBF583430439278525EE8D4E6D272C2CB74670F6A0BD50
2021-08-15T00:21:00.198Z,1628986860.198 [Micromodem](INFO): Outgoing frame #2, 18 bytes: 961C2FB7B8F43947D70A9B2B8F43E30BA800
2021-08-15T00:21:00.198Z,1628986860.198 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-15T00:21:00.317Z,1628986860.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:00.489Z,1628986860.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:21:00.489Z,1628986860.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:21:00.489Z,1628986860.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:21:00.490Z,1628986860.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:21:00.498Z,1628986860.498 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-15T00:21:00.981Z,1628986860.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,01148,184,80,80,6C,FF
2021-08-15T00:21:00.981Z,1628986860.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:21:00.981Z,1628986860.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:21:00.983Z,1628986860.983 [Micromodem](INFO): Nmea in: $CADRQ,002101,1,10,0,64,1*74

2021-08-15T00:21:00.984Z,1628986860.984 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861210000005D000004003E0000000000000000151D80030C5669C08C7A9715BB984647EB38E3FBF583430439278525EE8D4E6D272C2CB74670F6A0BD50*3D

2021-08-15T00:21:01.374Z,1628986861.374 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T00:21:01.374Z,1628986861.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:21:01.779Z,1628986861.779 [Micromodem](INFO): Nmea in: $CADRQ,002102,1,10,0,64,2*74

2021-08-15T00:21:01.779Z,1628986861.779 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,002102,1,10,0,64,2*74

2021-08-15T00:21:02.177Z,1628986862.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:21:02.601Z,1628986862.601 [Micromodem](INFO): Nmea in: $SNTTA,,0.046368,,,002102.59*42

2021-08-15T00:21:03.022Z,1628986863.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:05.005Z,1628986865.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,184,80,80,6C,FF
2021-08-15T00:21:05.005Z,1628986865.005 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,184,80,80,6C,FF
2021-08-15T00:21:05.005Z,1628986865.005 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:21:05.878Z,1628986865.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:06.217Z,1628986866.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:21:06.217Z,1628986866.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:21:06.217Z,1628986866.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:21:06.218Z,1628986866.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:21:06.613Z,1628986866.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,184,80,80,6C,FF
2021-08-15T00:21:06.613Z,1628986866.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:21:06.614Z,1628986866.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:21:06.615Z,1628986866.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:21:07.185Z,1628986867.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:21:08.010Z,1628986868.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002107.83*51

2021-08-15T00:21:08.433Z,1628986868.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:10.017Z,1628986870.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,184,80,80,6C,FF
2021-08-15T00:21:10.017Z,1628986870.017 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,184,80,80,6C,FF
2021-08-15T00:21:10.017Z,1628986870.017 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:21:11.530Z,1628986871.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:11.766Z,1628986871.766 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:21:11.766Z,1628986871.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:21:11.766Z,1628986871.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:21:11.767Z,1628986871.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:21:12.153Z,1628986872.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,184,80,80,6C,FF
2021-08-15T00:21:12.153Z,1628986872.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:21:12.153Z,1628986872.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:21:12.155Z,1628986872.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:21:12.559Z,1628986872.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:21:13.384Z,1628986873.384 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002113.37*5B

2021-08-15T00:21:14.254Z,1628986874.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:16.269Z,1628986876.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,09956,183,80,80,82,FF
2021-08-15T00:21:16.269Z,1628986876.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:21:16.677Z,1628986876.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2317.739990 m, bearing: 77.205030 deg, deltaT: 19.110612 s, approachRate: 109.352859 m/s, LOS rate: 0.207429 deg/s, posRepo size: 4
2021-08-15T00:21:16.677Z,1628986876.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2317.74 m. Resuming terminal guidance.
2021-08-15T00:21:16.678Z,1628986876.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T00:21:19.173Z,1628986879.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:19.501Z,1628986879.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:21:19.501Z,1628986879.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:21:19.501Z,1628986879.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:21:19.502Z,1628986879.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:21:19.929Z,1628986879.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,09956,183,80,80,82,FF
2021-08-15T00:21:19.929Z,1628986879.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:21:19.929Z,1628986879.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:21:19.931Z,1628986879.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:21:20.492Z,1628986880.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:21:20.896Z,1628986880.896 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,01255,184,80,80,70,FF
2021-08-15T00:21:20.898Z,1628986880.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:21:21.322Z,1628986881.322 [Micromodem](INFO): Nmea in: $SNTTA,0.165006,,,,002121.14*41

2021-08-15T00:21:21.372Z,1628986881.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.079987 m, bearing: 77.486789 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T00:21:21.373Z,1628986881.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 77.486789deg and heading rate command to 0 deg/s.
2021-08-15T00:21:23.810Z,1628986883.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:24.133Z,1628986884.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:21:24.133Z,1628986884.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:21:24.133Z,1628986884.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:21:24.134Z,1628986884.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:21:24.577Z,1628986884.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,01255,184,80,80,70,FF
2021-08-15T00:21:24.577Z,1628986884.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:21:24.577Z,1628986884.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:21:24.579Z,1628986884.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:21:24.996Z,1628986884.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:21:25.830Z,1628986885.830 [Micromodem](INFO): Nmea in: $SNTTA,0.486839,0.486833,,,002125.79*5E

2021-08-15T00:21:26.447Z,1628986886.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:28.246Z,1628986888.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,184,80,80,70,FF
2021-08-15T00:21:28.246Z,1628986888.246 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,184,80,80,70,FF
2021-08-15T00:21:28.246Z,1628986888.246 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:21:28.694Z,1628986888.694 [CTD_Seabird](ERROR): Failed to parse device response: 6.19,24.3667,4.80509,
2021-08-15T00:21:29.093Z,1628986889.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:29.449Z,1628986889.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:21:29.449Z,1628986889.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:21:29.449Z,1628986889.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:21:29.450Z,1628986889.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:21:29.870Z,1628986889.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,184,80,80,70,FF
2021-08-15T00:21:29.870Z,1628986889.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:21:29.870Z,1628986889.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:21:29.872Z,1628986889.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:21:30.292Z,1628986890.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:21:31.138Z,1628986891.138 [Micromodem](INFO): Nmea in: $SNTTA,0.171197,,,,002131.09*40

2021-08-15T00:21:32.067Z,1628986892.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:32.330Z,1628986892.330 [Micromodem](INFO): Nmea in: $CAERR,002132,DATA_TIMEOUT,2*4F

2021-08-15T00:21:32.738Z,1628986892.738 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-15T00:21:33.209Z,1628986893.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,184,80,80,70,FF
2021-08-15T00:21:33.209Z,1628986893.209 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,184,80,80,70,FF
2021-08-15T00:21:33.210Z,1628986893.210 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:21:33.211Z,1628986893.211 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-15T00:21:33.607Z,1628986893.607 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,002132.242368,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*59

2021-08-15T00:21:34.835Z,1628986894.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:35.230Z,1628986895.230 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:21:35.230Z,1628986895.230 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:21:35.230Z,1628986895.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:21:35.231Z,1628986895.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:21:35.633Z,1628986895.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,184,80,80,70,FF
2021-08-15T00:21:35.633Z,1628986895.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:21:35.633Z,1628986895.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:21:35.635Z,1628986895.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:21:36.040Z,1628986896.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:21:36.858Z,1628986896.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002136.85*55

2021-08-15T00:21:37.484Z,1628986897.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:39.273Z,1628986899.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,184,80,80,70,FF
2021-08-15T00:21:39.273Z,1628986899.273 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,184,80,80,70,FF
2021-08-15T00:21:39.273Z,1628986899.273 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:21:40.212Z,1628986900.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:40.557Z,1628986900.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:21:40.557Z,1628986900.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:21:40.557Z,1628986900.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:21:40.558Z,1628986900.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:21:40.966Z,1628986900.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,184,80,80,70,FF
2021-08-15T00:21:40.966Z,1628986900.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:21:40.966Z,1628986900.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:21:40.969Z,1628986900.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:21:41.368Z,1628986901.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:21:42.198Z,1628986902.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002142.18*52

2021-08-15T00:21:43.038Z,1628986903.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:44.589Z,1628986904.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,184,80,80,70,FF
2021-08-15T00:21:44.589Z,1628986904.589 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,184,80,80,70,FF
2021-08-15T00:21:44.589Z,1628986904.589 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:21:45.604Z,1628986905.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:45.809Z,1628986905.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:21:45.809Z,1628986905.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:21:45.809Z,1628986905.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:21:45.810Z,1628986905.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:21:46.209Z,1628986906.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,184,80,80,70,FF
2021-08-15T00:21:46.209Z,1628986906.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:21:46.210Z,1628986906.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:21:46.211Z,1628986906.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:21:46.613Z,1628986906.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:21:47.459Z,1628986907.459 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002147.42*58

2021-08-15T00:21:48.226Z,1628986908.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB2,000,041E4,184,80,80,44,FF
2021-08-15T00:21:48.226Z,1628986908.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:21:48.670Z,1628986908.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 974.580017 m, bearing: 79.375800 deg, deltaT: 27.326577 s, approachRate: 26.732218 m/s, LOS rate: 0.069127 deg/s, posRepo size: 2
2021-08-15T00:21:48.673Z,1628986908.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 974.580017 m,
      bearing: 79.375800 deg,
      approachRate: 26.732218 m/s,
      LOS rate: 0.069127 deg/s,
      cmd update: 0.276509 deg/s,
      cmd heading: 77.486789 deg,
      new cmd heading: 77.486789 deg.

2021-08-15T00:21:51.010Z,1628986911.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:51.193Z,1628986911.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:21:51.193Z,1628986911.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:21:51.193Z,1628986911.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:21:51.194Z,1628986911.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:21:51.593Z,1628986911.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB2,000,041E4,184,80,80,44,FF
2021-08-15T00:21:51.593Z,1628986911.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:21:51.594Z,1628986911.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:21:51.595Z,1628986911.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:21:52.000Z,1628986912.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:21:52.922Z,1628986912.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,013AF,184,80,80,45,FF
2021-08-15T00:21:52.923Z,1628986912.923 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:21:52.926Z,1628986912.926 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002152.81*53

2021-08-15T00:21:53.364Z,1628986913.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 264.839996 m, bearing: 79.657539 deg, deltaT: 4.645529 s, approachRate: -152.779160 m/s, LOS rate: 0.060647 deg/s, posRepo size: 3
2021-08-15T00:21:53.366Z,1628986913.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.839996 m,
      bearing: 79.657539 deg,
      approachRate: -152.779160 m/s,
      LOS rate: 0.060647 deg/s,
      cmd update: 0.242589 deg/s,
      cmd heading: 78.774204 deg,
      new cmd heading: 78.888172 deg.

2021-08-15T00:21:55.813Z,1628986915.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:56.117Z,1628986916.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:21:56.117Z,1628986916.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:21:56.117Z,1628986916.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:21:56.118Z,1628986916.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:21:56.581Z,1628986916.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,013AF,184,80,80,45,FF
2021-08-15T00:21:56.581Z,1628986916.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:21:56.582Z,1628986916.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:21:56.583Z,1628986916.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:21:56.993Z,1628986916.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:21:57.831Z,1628986917.831 [Micromodem](INFO): Nmea in: $SNTTA,0.481667,0.481780,,,002157.80*5F

2021-08-15T00:21:58.439Z,1628986918.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:21:59.841Z,1628986919.841 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-15T00:22:00.226Z,1628986920.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,184,80,80,45,FF
2021-08-15T00:22:00.226Z,1628986920.226 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,184,80,80,45,FF
2021-08-15T00:22:00.226Z,1628986920.226 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:22:01.057Z,1628986921.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:01.441Z,1628986921.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:22:01.441Z,1628986921.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:22:01.442Z,1628986921.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:22:01.442Z,1628986921.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:22:01.841Z,1628986921.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,184,80,80,45,FF
2021-08-15T00:22:01.841Z,1628986921.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:22:01.842Z,1628986921.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:22:01.843Z,1628986921.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:22:02.255Z,1628986922.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:22:03.098Z,1628986923.098 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002203.05*58

2021-08-15T00:22:04.015Z,1628986924.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:05.194Z,1628986925.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,184,80,80,45,FF
2021-08-15T00:22:05.194Z,1628986925.194 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,184,80,80,45,FF
2021-08-15T00:22:05.194Z,1628986925.194 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:22:05.582Z,1628986925.582 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T00:22:06.197Z,1628986926.197 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 06411861210000005D000004003E0000000000000000151D80030C5669C08C7A9715BB984647EB38E3FBF583430439278525EE8D4E6D272C2CB74670F6A0BD50
2021-08-15T00:22:06.197Z,1628986926.197 [Micromodem](INFO): Outgoing frame #2, 18 bytes: 961C2FB7B8F43947D70A9B2B8F43E30BA800
2021-08-15T00:22:06.198Z,1628986926.198 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-15T00:22:06.466Z,1628986926.466 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-15T00:22:06.878Z,1628986926.878 [Micromodem](INFO): Nmea in: $CADRQ,002207,1,10,0,64,1*71

2021-08-15T00:22:06.879Z,1628986926.879 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861210000005D000004003E0000000000000000151D80030C5669C08C7A9715BB984647EB38E3FBF583430439278525EE8D4E6D272C2CB74670F6A0BD50*3D

2021-08-15T00:22:07.005Z,1628986927.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:07.281Z,1628986927.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:22:07.281Z,1628986927.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:22:07.282Z,1628986927.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:22:07.282Z,1628986927.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:22:07.289Z,1628986927.289 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T00:22:07.709Z,1628986927.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,184,80,80,45,FF
2021-08-15T00:22:07.709Z,1628986927.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:22:07.709Z,1628986927.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:22:07.711Z,1628986927.711 [Micromodem](INFO): Nmea in: $CADRQ,002208,1,10,0,64,2*7D

2021-08-15T00:22:07.711Z,1628986927.711 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,961C2FB7B8F43947D70A9B2B8F43E30BA800*39

2021-08-15T00:22:08.086Z,1628986928.086 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,18*42

2021-08-15T00:22:08.086Z,1628986928.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:22:08.490Z,1628986928.490 [Micromodem](INFO): Nmea in: $CATXP,82*78

2021-08-15T00:22:08.490Z,1628986928.490 [Micromodem](ERROR): Response from modem unexpected: $CATXP,82*78

2021-08-15T00:22:09.823Z,1628986929.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:10.982Z,1628986930.982 [Micromodem](INFO): Nmea in: $CATXF,82*6E

2021-08-15T00:22:10.982Z,1628986930.982 [Micromodem](ERROR): Response from modem unexpected: $CATXF,82*6E

2021-08-15T00:22:11.419Z,1628986931.419 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,002208.914190,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*55

2021-08-15T00:22:11.419Z,1628986931.419 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,002208.914190,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*55

2021-08-15T00:22:12.671Z,1628986932.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:13.456Z,1628986933.456 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.173641
2021-08-15T00:22:15.722Z,1628986935.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:15.907Z,1628986935.907 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:22:15.907Z,1628986935.907 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:22:15.910Z,1628986935.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:22:15.911Z,1628986935.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:22:15.942Z,1628986935.942 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:22:16.297Z,1628986936.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,184,80,80,45,FF
2021-08-15T00:22:16.298Z,1628986936.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:22:16.298Z,1628986936.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:22:18.423Z,1628986938.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:19.223Z,1628986939.223 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:22:19.630Z,1628986939.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:22:20.446Z,1628986940.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002220.44*5C

2021-08-15T00:22:21.310Z,1628986941.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:22.160Z,1628986942.160 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.249019
2021-08-15T00:22:22.977Z,1628986942.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,0942F,184,80,80,2E,FF
2021-08-15T00:22:22.978Z,1628986942.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:22:23.415Z,1628986943.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2238.600098 m, bearing: 82.157996 deg, deltaT: 30.099944 s, approachRate: 65.573547 m/s, LOS rate: 0.083072 deg/s, posRepo size: 4
2021-08-15T00:22:23.418Z,1628986943.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2238.600098 m,
      bearing: 82.157996 deg,
      approachRate: 65.573547 m/s,
      LOS rate: 0.083072 deg/s,
      cmd update: 0.332287 deg/s,
      cmd heading: 86.076112 deg,
      new cmd heading: 86.164372 deg.

2021-08-15T00:22:25.953Z,1628986945.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:26.265Z,1628986946.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:22:26.265Z,1628986946.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:22:26.265Z,1628986946.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:22:26.266Z,1628986946.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:22:26.673Z,1628986946.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,0942F,184,80,80,2E,FF
2021-08-15T00:22:26.673Z,1628986946.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:22:26.673Z,1628986946.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:22:26.675Z,1628986946.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:22:27.073Z,1628986947.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:22:27.875Z,1628986947.875 [Micromodem](INFO): Nmea in: $SNTTA,0.338344,0.338213,,,002227.89*59

2021-08-15T00:22:28.534Z,1628986948.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:30.301Z,1628986950.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,184,80,80,2E,FF
2021-08-15T00:22:30.301Z,1628986950.301 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,184,80,80,2E,FF
2021-08-15T00:22:30.301Z,1628986950.301 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:22:31.143Z,1628986951.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:31.524Z,1628986951.524 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:22:31.524Z,1628986951.524 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:22:31.525Z,1628986951.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:22:31.525Z,1628986951.525 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:22:31.933Z,1628986951.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,184,80,80,2E,FF
2021-08-15T00:22:31.933Z,1628986951.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:22:31.933Z,1628986951.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:22:31.935Z,1628986951.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:22:32.328Z,1628986952.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:22:33.153Z,1628986953.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,01566,186,80,80,1E,FF
2021-08-15T00:22:33.153Z,1628986953.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:22:33.156Z,1628986953.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002233.15*5A

2021-08-15T00:22:33.567Z,1628986953.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 291.179993 m, bearing: 78.207852 deg, deltaT: 10.166598 s, approachRate: -191.550812 m/s, LOS rate: -0.388541 deg/s, posRepo size: 4
2021-08-15T00:22:33.570Z,1628986953.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 291.179993 m,
      bearing: 78.207852 deg,
      approachRate: -191.550812 m/s,
      LOS rate: -0.388541 deg/s,
      cmd update: -1.554166 deg/s,
      cmd heading: 89.451296 deg,
      new cmd heading: 89.570402 deg.

2021-08-15T00:22:36.126Z,1628986956.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:36.485Z,1628986956.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:22:36.485Z,1628986956.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:22:36.485Z,1628986956.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:22:36.486Z,1628986956.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:22:36.888Z,1628986956.888 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,01566,186,80,80,1E,FF
2021-08-15T00:22:36.889Z,1628986956.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:22:36.890Z,1628986956.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:22:36.897Z,1628986956.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:22:37.460Z,1628986957.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:22:38.279Z,1628986958.279 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002238.11*55

2021-08-15T00:22:38.760Z,1628986958.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:40.293Z,1628986960.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,1E,FF
2021-08-15T00:22:40.294Z,1628986960.294 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,1E,FF
2021-08-15T00:22:40.294Z,1628986960.294 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:22:41.335Z,1628986961.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:41.513Z,1628986961.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:22:41.513Z,1628986961.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:22:41.513Z,1628986961.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:22:41.514Z,1628986961.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:22:41.945Z,1628986961.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,1E,FF
2021-08-15T00:22:41.945Z,1628986961.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:22:41.945Z,1628986961.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:22:41.947Z,1628986961.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:22:42.324Z,1628986962.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:22:42.785Z,1628986962.785 [Micromodem](INFO): Nmea in: $SNTTA,0.316180,0.316061,,,002243.16*50

2021-08-15T00:22:43.125Z,1628986963.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,108,000,015D0,187,80,80,1C,FF
2021-08-15T00:22:43.125Z,1628986963.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:22:43.619Z,1628986963.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 297.540009 m, bearing: 66.795104 deg, deltaT: 10.155269 s, approachRate: 0.626277 m/s, LOS rate: -1.123825 deg/s, posRepo size: 4
2021-08-15T00:22:43.621Z,1628986963.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 297.540009 m,
      bearing: 66.795104 deg,
      approachRate: 0.626277 m/s,
      LOS rate: -1.123825 deg/s,
      cmd update: -4.495301 deg/s,
      cmd heading: 73.654804 deg,
      new cmd heading: 73.272204 deg.

2021-08-15T00:22:46.042Z,1628986966.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:46.389Z,1628986966.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:22:46.389Z,1628986966.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:22:46.389Z,1628986966.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:22:46.390Z,1628986966.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:22:46.813Z,1628986966.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
108,000,015D0,187,80,80,1C,FF
2021-08-15T00:22:46.813Z,1628986966.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:22:46.813Z,1628986966.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:22:46.815Z,1628986966.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:22:47.272Z,1628986967.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:22:48.183Z,1628986968.183 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,015F7,187,80,80,3F,FF
2021-08-15T00:22:48.184Z,1628986968.184 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:22:48.187Z,1628986968.187 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002248.03*51

2021-08-15T00:22:48.617Z,1628986968.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 299.880005 m, bearing: 46.205875 deg, deltaT: 4.828289 s, approachRate: 0.484643 m/s, LOS rate: -4.264291 deg/s, posRepo size: 4
2021-08-15T00:22:48.619Z,1628986968.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 299.880005 m,
      bearing: 46.205875 deg,
      approachRate: 0.484643 m/s,
      LOS rate: -4.264291 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 51.948039 deg,
      new cmd heading: 50.084876 deg.

2021-08-15T00:22:50.756Z,1628986970.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:51.052Z,1628986971.052 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:22:51.052Z,1628986971.052 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:22:51.053Z,1628986971.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:22:51.053Z,1628986971.053 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:22:51.454Z,1628986971.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,015F7,187,80,80,3F,FF
2021-08-15T00:22:51.454Z,1628986971.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:22:51.454Z,1628986971.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:22:51.456Z,1628986971.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:22:51.894Z,1628986971.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:22:52.713Z,1628986972.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D52,000,0162D,189,80,80,3D,FF
2021-08-15T00:22:52.714Z,1628986972.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:22:52.735Z,1628986972.735 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002252.67*58

2021-08-15T00:22:53.129Z,1628986973.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 303.119995 m, bearing: 85.938922 deg, deltaT: 4.598346 s, approachRate: 0.704599 m/s, LOS rate: 8.640726 deg/s, posRepo size: 4
2021-08-15T00:22:53.131Z,1628986973.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 303.119995 m,
      bearing: 85.938922 deg,
      approachRate: 0.704599 m/s,
      LOS rate: 8.640726 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 356.768449 deg,
      new cmd heading: 352.822705 deg.

2021-08-15T00:22:55.558Z,1628986975.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:22:55.941Z,1628986975.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:22:55.941Z,1628986975.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:22:55.941Z,1628986975.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:22:55.942Z,1628986975.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:22:56.321Z,1628986976.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D52,000,0162D,189,80,80,3D,FF
2021-08-15T00:22:56.321Z,1628986976.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:22:56.322Z,1628986976.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:22:56.323Z,1628986976.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:22:56.925Z,1628986976.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:22:57.316Z,1628986977.316 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39F,000,0162D,189,80,80,3D,FF
2021-08-15T00:22:57.316Z,1628986977.316 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:22:57.717Z,1628986977.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002257.53*5A

2021-08-15T00:22:57.772Z,1628986977.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 303.119995 m, bearing: 353.853386 deg, deltaT: 4.541624 s, approachRate: 0.000000 m/s, LOS rate: -20.275903 deg/s, posRepo size: 4
2021-08-15T00:22:57.773Z,1628986977.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.275903 deg/s. Setting heading cmd to target bearing of 353.853386deg and heading rate command to 0 deg/s.
2021-08-15T00:23:00.211Z,1628986980.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:23:00.529Z,1628986980.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:23:00.530Z,1628986980.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:23:00.530Z,1628986980.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:23:00.531Z,1628986980.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:23:01.465Z,1628986981.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39F,000,0162D,189,80,80,3D,FF
2021-08-15T00:23:01.465Z,1628986981.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:23:01.466Z,1628986981.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:23:01.467Z,1628986981.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:23:01.870Z,1628986981.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:23:02.732Z,1628986982.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27C,000,01673,188,80,80,71,FF
2021-08-15T00:23:02.733Z,1628986982.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:23:02.735Z,1628986982.735 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002302.68*53

2021-08-15T00:23:03.365Z,1628986983.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 307.320007 m, bearing: 351.247068 deg, deltaT: 5.522536 s, approachRate: 0.760522 m/s, LOS rate: -0.471942 deg/s, posRepo size: 4
2021-08-15T00:23:03.367Z,1628986983.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.320007 m,
      bearing: 351.247068 deg,
      approachRate: 0.760522 m/s,
      LOS rate: -0.471942 deg/s,
      cmd update: -1.887769 deg/s,
      cmd heading: 353.853386 deg,
      new cmd heading: 353.853386 deg.

2021-08-15T00:23:05.663Z,1628986985.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:23:06.042Z,1628986986.042 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:23:06.042Z,1628986986.042 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:23:06.042Z,1628986986.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:23:06.043Z,1628986986.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:23:06.437Z,1628986986.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27C,000,01673,188,80,80,71,FF
2021-08-15T00:23:06.437Z,1628986986.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:23:06.437Z,1628986986.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:23:06.439Z,1628986986.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:23:06.845Z,1628986986.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:23:07.677Z,1628986987.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,0168A,189,80,80,78,FF
2021-08-15T00:23:07.678Z,1628986987.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:23:07.681Z,1628986987.681 [Micromodem](INFO): Nmea in: $SNTTA,0.207831,,,,002307.65*4A

2021-08-15T00:23:08.100Z,1628986988.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 308.699982 m, bearing: 338.260501 deg, deltaT: 4.832744 s, approachRate: 0.285547 m/s, LOS rate: -2.687203 deg/s, posRepo size: 4
2021-08-15T00:23:08.102Z,1628986988.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 308.699982 m,
      bearing: 338.260501 deg,
      approachRate: 0.285547 m/s,
      LOS rate: -2.687203 deg/s,
      cmd update: -10.748814 deg/s,
      cmd heading: 344.719517 deg,
      new cmd heading: 343.958322 deg.

2021-08-15T00:23:10.551Z,1628986990.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:23:10.920Z,1628986990.920 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:23:10.921Z,1628986990.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:23:10.921Z,1628986990.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:23:10.922Z,1628986990.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:23:11.313Z,1628986991.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,0168A,189,80,80,78,FF
2021-08-15T00:23:11.313Z,1628986991.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:23:11.313Z,1628986991.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:23:11.315Z,1628986991.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:23:11.719Z,1628986991.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:23:11.732Z,1628986991.732 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T00:23:12.323Z,1628986992.323 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 06411861210000005D000004003E0000000000000000151D80030C5669C08C7A9715BB984647EB38E3FBF583430439278525EE8D4E6D272C2CB74670F6A0BD50
2021-08-15T00:23:12.323Z,1628986992.323 [Micromodem](INFO): Outgoing frame #2, 18 bytes: 961C2FB7B8F43947D70A9B2B8F43E30BA800
2021-08-15T00:23:12.323Z,1628986992.323 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-15T00:23:12.545Z,1628986992.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,46C,000,0169B,189,80,80,5C,FF
2021-08-15T00:23:12.545Z,1628986992.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:23:12.548Z,1628986992.548 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-15T00:23:12.962Z,1628986992.962 [Micromodem](INFO): Nmea in: $CADRQ,002313,1,10,0,64,1*75

2021-08-15T00:23:12.962Z,1628986992.962 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861210000005D000004003E0000000000000000151D80030C5669C08C7A9715BB984647EB38E3FBF583430439278525EE8D4E6D272C2CB74670F6A0BD50*3D

2021-08-15T00:23:13.097Z,1628986993.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 309.720001 m, bearing: 295.106110 deg, deltaT: 4.866149 s, approachRate: 0.209615 m/s, LOS rate: -8.868284 deg/s, posRepo size: 4
2021-08-15T00:23:13.099Z,1628986993.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.720001 m,
      bearing: 295.106110 deg,
      approachRate: 0.209615 m/s,
      LOS rate: -8.868284 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 292.412199 deg,
      new cmd heading: 286.679072 deg.

2021-08-15T00:23:13.333Z,1628986993.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002312.53*5A

2021-08-15T00:23:13.333Z,1628986993.333 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,002312.53*5A

2021-08-15T00:23:14.553Z,1628986994.553 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T00:23:14.974Z,1628986994.974 [Micromodem](INFO): Nmea in: $CADRQ,002314,1,10,0,64,2*71

2021-08-15T00:23:14.974Z,1628986994.974 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,961C2FB7B8F43947D70A9B2B8F43E30BA800*39

2021-08-15T00:23:15.087Z,1628986995.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:23:15.345Z,1628986995.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:23:15.345Z,1628986995.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:23:15.345Z,1628986995.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:23:15.346Z,1628986995.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:23:15.357Z,1628986995.357 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,18*42

2021-08-15T00:23:15.745Z,1628986995.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
46C,000,0169B,189,80,80,5C,FF
2021-08-15T00:23:15.745Z,1628986995.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:23:15.746Z,1628986995.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:23:15.747Z,1628986995.747 [Micromodem](INFO): Nmea in: $CATXP,82*78

2021-08-15T00:23:15.748Z,1628986995.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:23:17.845Z,1628986997.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:23:18.238Z,1628986998.238 [Micromodem](INFO): Nmea in: $CATXF,82*6E

2021-08-15T00:23:18.239Z,1628986998.239 [Micromodem](ERROR): Response from modem unexpected: $CATXF,82*6E

2021-08-15T00:23:18.631Z,1628986998.631 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,002316.173710,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*5C

2021-08-15T00:23:18.631Z,1628986998.631 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,002316.173710,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*5C

2021-08-15T00:23:20.498Z,1628987000.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:23:21.081Z,1628987001.081 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T00:23:21.468Z,1628987001.468 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.121783
2021-08-15T00:23:21.481Z,1628987001.481 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-15T00:23:21.482Z,1628987001.482 [Micromodem](INFO): Sent 74 bytes from file Logs/20210814T221742/Courier0033.lzma.parts
2021-08-15T00:23:21.482Z,1628987001.482 [Micromodem](INFO): Packets left to send: 0
2021-08-15T00:23:21.865Z,1628987001.865 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815002321.242390,06,23562,43,0244,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,14.5,5.52,07,-2.52,-01,-0.25,48,14500,4000*43

2021-08-15T00:23:21.865Z,1628987001.865 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815002321.242390,06,23562,43,0244,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,14.5,5.52,07,-2.52,-01,-0.25,48,14500,4000*43

2021-08-15T00:23:22.134Z,1628987002.134 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T00:23:22.134Z,1628987002.134 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T00:23:22.134Z,1628987002.134 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T00:23:22.135Z,1628987002.135 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T00:23:22.135Z,1628987002.135 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T00:23:23.013Z,1628987003.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:23:23.373Z,1628987003.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:23:23.373Z,1628987003.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:23:23.373Z,1628987003.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:23:23.374Z,1628987003.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:23:23.779Z,1628987003.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
46C,000,0169B,189,80,80,5C,FF
2021-08-15T00:23:23.779Z,1628987003.779 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:23:23.779Z,1628987003.779 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:23:25.831Z,1628987005.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:23:27.014Z,1628987007.014 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:23:27.416Z,1628987007.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:23:28.257Z,1628987008.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,329,000,01646,189,80,80,67,FF
2021-08-15T00:23:28.258Z,1628987008.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:23:28.261Z,1628987008.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002328.23*54

2021-08-15T00:23:28.663Z,1628987008.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 304.619995 m, bearing: 254.104375 deg, deltaT: 15.752961 s, approachRate: -0.323749 m/s, LOS rate: -2.602795 deg/s, posRepo size: 4
2021-08-15T00:23:28.670Z,1628987008.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.619995 m,
      bearing: 254.104375 deg,
      approachRate: -0.323749 m/s,
      LOS rate: -2.602795 deg/s,
      cmd update: -10.411181 deg/s,
      cmd heading: 103.430446 deg,
      new cmd heading: 99.212062 deg.

2021-08-15T00:23:31.125Z,1628987011.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:23:31.453Z,1628987011.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:23:31.453Z,1628987011.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:23:31.453Z,1628987011.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:23:31.454Z,1628987011.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:23:31.857Z,1628987011.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
329,000,01646,189,80,80,67,FF
2021-08-15T00:23:31.857Z,1628987011.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:23:31.857Z,1628987011.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:23:31.859Z,1628987011.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:23:32.291Z,1628987012.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:23:33.150Z,1628987013.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,260,000,01617,189,80,80,67,FF
2021-08-15T00:23:33.150Z,1628987013.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:23:33.153Z,1628987013.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002333.07*58

2021-08-15T00:23:33.512Z,1628987013.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 301.799988 m, bearing: 249.663003 deg, deltaT: 4.962441 s, approachRate: -0.568270 m/s, LOS rate: -0.894997 deg/s, posRepo size: 4
2021-08-15T00:23:33.514Z,1628987013.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.799988 m,
      bearing: 249.663003 deg,
      approachRate: -0.568270 m/s,
      LOS rate: -0.894997 deg/s,
      cmd update: -3.579989 deg/s,
      cmd heading: 51.918263 deg,
      new cmd heading: 49.286701 deg.

2021-08-15T00:23:35.972Z,1628987015.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:23:36.321Z,1628987016.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:23:36.321Z,1628987016.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:23:36.321Z,1628987016.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:23:36.322Z,1628987016.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:23:36.748Z,1628987016.748 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
260,000,01617,189,80,80,67,FF
2021-08-15T00:23:36.748Z,1628987016.748 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:23:36.748Z,1628987016.748 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:23:36.750Z,1628987016.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:23:37.120Z,1628987017.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:23:37.966Z,1628987017.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002337.96*54

2021-08-15T00:23:38.774Z,1628987018.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C0,000,03543,18A,80,80,4D,FF
2021-08-15T00:23:38.775Z,1628987018.775 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:23:39.169Z,1628987019.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 780.600098 m, bearing: 248.975148 deg, deltaT: 5.553017 s, approachRate: 86.223419 m/s, LOS rate: -0.123870 deg/s, posRepo size: 4
2021-08-15T00:23:39.171Z,1628987019.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 780.600098 m,
      bearing: 248.975148 deg,
      approachRate: 86.223419 m/s,
      LOS rate: -0.123870 deg/s,
      cmd update: -0.495482 deg/s,
      cmd heading: 32.041897 deg,
      new cmd heading: 30.765491 deg.

2021-08-15T00:23:41.618Z,1628987021.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:23:41.853Z,1628987021.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:23:41.853Z,1628987021.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:23:41.853Z,1628987021.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:23:41.854Z,1628987021.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:23:42.265Z,1628987022.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C0,000,03543,18A,80,80,4D,FF
2021-08-15T00:23:42.265Z,1628987022.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:23:42.266Z,1628987022.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:23:42.267Z,1628987022.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:23:42.683Z,1628987022.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:23:43.065Z,1628987023.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005A4,189,80,80,6A,FF
2021-08-15T00:23:43.066Z,1628987023.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:23:43.513Z,1628987023.513 [Micromodem](INFO): Nmea in: $SNTTA,0.207163,,,,002343.48*4B

2021-08-15T00:23:43.529Z,1628987023.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.140003 m, bearing: 250.635021 deg, deltaT: 4.334483 s, approachRate: -168.753708 m/s, LOS rate: 0.382946 deg/s, posRepo size: 4
2021-08-15T00:23:43.537Z,1628987023.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.140003 m,
      bearing: 250.635021 deg,
      approachRate: -168.753708 m/s,
      LOS rate: 0.382946 deg/s,
      cmd update: 1.531784 deg/s,
      cmd heading: 29.884254 deg,
      new cmd heading: 29.704196 deg.

2021-08-15T00:23:46.065Z,1628987026.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:23:46.314Z,1628987026.314 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:23:46.314Z,1628987026.314 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:23:46.315Z,1628987026.315 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:23:46.316Z,1628987026.316 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:23:46.734Z,1628987026.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005A4,189,80,80,6A,FF
2021-08-15T00:23:46.734Z,1628987026.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:23:46.734Z,1628987026.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:23:46.736Z,1628987026.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:23:47.109Z,1628987027.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:23:47.944Z,1628987027.944 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D93,000,015B4,188,80,80,8B,FF
2021-08-15T00:23:47.944Z,1628987027.944 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:23:47.947Z,1628987027.947 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002347.95*50

2021-08-15T00:23:48.361Z,1628987028.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 295.859985 m, bearing: 5.113979 deg, deltaT: 4.823512 s, approachRate: 51.149448 m/s, LOS rate: 23.733529 deg/s, posRepo size: 4
2021-08-15T00:23:48.362Z,1628987028.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.733529 deg/s. Setting heading cmd to target bearing of 5.113979deg and heading rate command to 0 deg/s.
2021-08-15T00:23:50.822Z,1628987030.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:23:51.161Z,1628987031.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:23:51.161Z,1628987031.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:23:51.161Z,1628987031.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:23:51.162Z,1628987031.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:23:51.554Z,1628987031.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D93,000,015B4,188,80,80,8B,FF
2021-08-15T00:23:51.554Z,1628987031.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:23:51.554Z,1628987031.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:23:51.556Z,1628987031.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:23:51.983Z,1628987031.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:23:52.797Z,1628987032.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,015AF,186,80,80,45,FF
2021-08-15T00:23:52.797Z,1628987032.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:23:52.800Z,1628987032.800 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002352.77*58

2021-08-15T00:23:53.190Z,1628987033.190 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T00:23:53.217Z,1628987033.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 295.559998 m, bearing: 338.339267 deg, deltaT: 4.886355 s, approachRate: -0.061393 m/s, LOS rate: -5.479486 deg/s, posRepo size: 4
2021-08-15T00:23:53.219Z,1628987033.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.559998 m,
      bearing: 338.339267 deg,
      approachRate: -0.061393 m/s,
      LOS rate: -5.479486 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 5.113979 deg,
      new cmd heading: 5.113979 deg.

2021-08-15T00:23:55.633Z,1628987035.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:23:56.005Z,1628987036.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:23:56.005Z,1628987036.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:23:56.005Z,1628987036.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:23:56.006Z,1628987036.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:23:56.401Z,1628987036.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,015AF,186,80,80,45,FF
2021-08-15T00:23:56.401Z,1628987036.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:23:56.401Z,1628987036.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:23:56.403Z,1628987036.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:23:56.808Z,1628987036.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:23:57.633Z,1628987037.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CD,000,015B7,188,80,80,72,FF
2021-08-15T00:23:57.633Z,1628987037.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:23:57.636Z,1628987037.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002357.62*59

2021-08-15T00:23:58.066Z,1628987038.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 296.039978 m, bearing: 332.277283 deg, deltaT: 4.775745 s, approachRate: 0.100504 m/s, LOS rate: -1.269327 deg/s, posRepo size: 4
2021-08-15T00:23:58.068Z,1628987038.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 296.039978 m,
      bearing: 332.277283 deg,
      approachRate: 0.100504 m/s,
      LOS rate: -1.269327 deg/s,
      cmd update: -5.077310 deg/s,
      cmd heading: 307.754349 deg,
      new cmd heading: 302.779353 deg.

2021-08-15T00:24:00.470Z,1628987040.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:24:00.858Z,1628987040.858 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:24:00.858Z,1628987040.858 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:24:00.858Z,1628987040.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:24:00.859Z,1628987040.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:24:01.250Z,1628987041.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CD,000,015B7,188,80,80,72,FF
2021-08-15T00:24:01.250Z,1628987041.250 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:24:01.250Z,1628987041.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:24:01.254Z,1628987041.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:24:01.669Z,1628987041.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:24:02.494Z,1628987042.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002402.47*59

2021-08-15T00:24:03.294Z,1628987043.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:24:04.911Z,1628987044.911 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,188,80,80,72,FF
2021-08-15T00:24:04.912Z,1628987044.912 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,188,80,80,72,FF
2021-08-15T00:24:04.912Z,1628987044.912 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:24:06.129Z,1628987046.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:24:06.509Z,1628987046.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:24:06.509Z,1628987046.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:24:06.510Z,1628987046.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:24:06.511Z,1628987046.511 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:24:06.913Z,1628987046.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,188,80,80,72,FF
2021-08-15T00:24:06.913Z,1628987046.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:24:06.914Z,1628987046.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:24:06.947Z,1628987046.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:24:07.316Z,1628987047.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:24:08.142Z,1628987048.142 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002408.16*57

2021-08-15T00:24:08.962Z,1628987048.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0427B,189,80,80,4F,FF
2021-08-15T00:24:08.964Z,1628987048.964 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:24:09.360Z,1628987049.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 983.640076 m, bearing: 267.573344 deg, deltaT: 11.379079 s, approachRate: 60.426693 m/s, LOS rate: -5.686220 deg/s, posRepo size: 4
2021-08-15T00:24:09.362Z,1628987049.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 983.640076 m,
      bearing: 267.573344 deg,
      approachRate: 60.426693 m/s,
      LOS rate: -5.686220 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 249.979376 deg,
      new cmd heading: 248.308296 deg.

2021-08-15T00:24:11.771Z,1628987051.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:24:12.157Z,1628987052.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:24:12.157Z,1628987052.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:24:12.157Z,1628987052.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:24:12.158Z,1628987052.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:24:12.561Z,1628987052.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0427B,189,80,80,4F,FF
2021-08-15T00:24:12.561Z,1628987052.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:24:12.562Z,1628987052.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:24:12.563Z,1628987052.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:24:12.973Z,1628987052.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:24:13.789Z,1628987053.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,015B6,189,80,80,71,FF
2021-08-15T00:24:13.790Z,1628987053.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:24:13.793Z,1628987053.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002413.78*55

2021-08-15T00:24:14.225Z,1628987054.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 295.980011 m, bearing: 249.470091 deg, deltaT: 4.777349 s, approachRate: -143.941757 m/s, LOS rate: -3.789393 deg/s, posRepo size: 4
2021-08-15T00:24:14.228Z,1628987054.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.980011 m,
      bearing: 249.470091 deg,
      approachRate: -143.941757 m/s,
      LOS rate: -3.789393 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 192.653310 deg,
      new cmd heading: 187.662713 deg.

2021-08-15T00:24:16.642Z,1628987056.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:24:17.013Z,1628987057.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:24:17.013Z,1628987057.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:24:17.013Z,1628987057.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:24:17.014Z,1628987057.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:24:17.421Z,1628987057.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,015B6,189,80,80,71,FF
2021-08-15T00:24:17.421Z,1628987057.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:24:17.422Z,1628987057.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:24:17.423Z,1628987057.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:24:17.820Z,1628987057.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:24:18.638Z,1628987058.638 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002418.64*53

2021-08-15T00:24:19.459Z,1628987059.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:24:21.053Z,1628987061.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,71,FF
2021-08-15T00:24:21.054Z,1628987061.054 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,71,FF
2021-08-15T00:24:21.054Z,1628987061.054 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:24:22.302Z,1628987062.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:24:22.661Z,1628987062.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:24:22.661Z,1628987062.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:24:22.661Z,1628987062.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:24:22.662Z,1628987062.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:24:23.073Z,1628987063.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,71,FF
2021-08-15T00:24:23.073Z,1628987063.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:24:23.073Z,1628987063.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:24:23.075Z,1628987063.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:24:23.481Z,1628987063.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:24:24.305Z,1628987064.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,269,000,01562,189,80,80,5A,FF
2021-08-15T00:24:24.305Z,1628987064.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:24:24.308Z,1628987064.308 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002424.29*55

2021-08-15T00:24:24.766Z,1628987064.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 290.940002 m, bearing: 244.360946 deg, deltaT: 10.553702 s, approachRate: -0.477558 m/s, LOS rate: -0.484109 deg/s, posRepo size: 4
2021-08-15T00:24:24.769Z,1628987064.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 290.940002 m,
      bearing: 244.360946 deg,
      approachRate: -0.477558 m/s,
      LOS rate: -0.484109 deg/s,
      cmd update: -1.936437 deg/s,
      cmd heading: 66.008882 deg,
      new cmd heading: 61.152266 deg.

2021-08-15T00:24:27.133Z,1628987067.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:24:27.521Z,1628987067.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:24:27.521Z,1628987067.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:24:27.521Z,1628987067.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:24:27.522Z,1628987067.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:24:27.937Z,1628987067.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
269,000,01562,189,80,80,5A,FF
2021-08-15T00:24:27.937Z,1628987067.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:24:27.937Z,1628987067.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:24:27.939Z,1628987067.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:24:28.325Z,1628987068.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:24:29.145Z,1628987069.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26B,000,0152E,18A,80,80,42,FF
2021-08-15T00:24:29.146Z,1628987069.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:24:29.149Z,1628987069.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002429.15*57

2021-08-15T00:24:29.565Z,1628987069.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.819977 m, bearing: 240.691003 deg, deltaT: 4.829142 s, approachRate: -0.646083 m/s, LOS rate: -0.759957 deg/s, posRepo size: 4
2021-08-15T00:24:29.567Z,1628987069.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.819977 m,
      bearing: 240.691003 deg,
      approachRate: -0.646083 m/s,
      LOS rate: -0.759957 deg/s,
      cmd update: -3.039830 deg/s,
      cmd heading: 56.688262 deg,
      new cmd heading: 55.934010 deg.

2021-08-15T00:24:32.027Z,1628987072.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:24:32.361Z,1628987072.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:24:32.361Z,1628987072.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:24:32.361Z,1628987072.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:24:32.362Z,1628987072.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:24:32.777Z,1628987072.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26B,000,0152E,18A,80,80,42,FF
2021-08-15T00:24:32.777Z,1628987072.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:24:32.777Z,1628987072.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:24:32.779Z,1628987072.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:24:33.258Z,1628987073.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:24:34.053Z,1628987074.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,419,000,014FC,188,80,80,62,FF
2021-08-15T00:24:34.053Z,1628987074.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:24:34.080Z,1628987074.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002433.99*58

2021-08-15T00:24:34.502Z,1628987074.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 284.820007 m, bearing: 237.490131 deg, deltaT: 4.939911 s, approachRate: -0.607292 m/s, LOS rate: -0.647962 deg/s, posRepo size: 4
2021-08-15T00:24:34.505Z,1628987074.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.820007 m,
      bearing: 237.490131 deg,
      approachRate: -0.607292 m/s,
      LOS rate: -0.647962 deg/s,
      cmd update: -2.591846 deg/s,
      cmd heading: 41.635781 deg,
      new cmd heading: 40.493371 deg.

2021-08-15T00:24:36.971Z,1628987076.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:24:37.293Z,1628987077.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:24:37.293Z,1628987077.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:24:37.293Z,1628987077.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:24:37.294Z,1628987077.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:24:37.689Z,1628987077.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
419,000,014FC,188,80,80,62,FF
2021-08-15T00:24:37.689Z,1628987077.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:24:37.689Z,1628987077.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:24:37.691Z,1628987077.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:24:38.104Z,1628987078.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:24:38.937Z,1628987078.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,014DC,18A,80,80,A3,FF
2021-08-15T00:24:38.938Z,1628987078.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:24:38.941Z,1628987078.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002438.90*5A

2021-08-15T00:24:39.356Z,1628987079.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 282.899994 m, bearing: 245.795340 deg, deltaT: 4.911979 s, approachRate: -0.390884 m/s, LOS rate: 1.690807 deg/s, posRepo size: 4
2021-08-15T00:24:39.358Z,1628987079.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.899994 m,
      bearing: 245.795340 deg,
      approachRate: -0.390884 m/s,
      LOS rate: 1.690807 deg/s,
      cmd update: 6.763229 deg/s,
      cmd heading: 28.904720 deg,
      new cmd heading: 28.082846 deg.

2021-08-15T00:24:41.747Z,1628987081.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:24:42.133Z,1628987082.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:24:42.133Z,1628987082.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:24:42.133Z,1628987082.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:24:42.134Z,1628987082.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:24:42.554Z,1628987082.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,014DC,18A,80,80,A3,FF
2021-08-15T00:24:42.554Z,1628987082.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:24:42.554Z,1628987082.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:24:42.556Z,1628987082.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:24:42.969Z,1628987082.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:24:43.769Z,1628987083.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D54,000,014C8,188,80,80,8E,FF
2021-08-15T00:24:43.769Z,1628987083.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:24:43.772Z,1628987083.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002443.77*5F

2021-08-15T00:24:44.202Z,1628987084.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.699982 m, bearing: 3.627153 deg, deltaT: 4.764976 s, approachRate: -0.251840 m/s, LOS rate: 24.728732 deg/s, posRepo size: 4
2021-08-15T00:24:44.203Z,1628987084.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.728732 deg/s. Setting heading cmd to target bearing of 3.627153deg and heading rate command to 0 deg/s.
2021-08-15T00:24:46.609Z,1628987086.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:24:46.985Z,1628987086.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:24:46.985Z,1628987086.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:24:46.985Z,1628987086.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:24:46.986Z,1628987086.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:24:47.389Z,1628987087.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D54,000,014C8,188,80,80,8E,FF
2021-08-15T00:24:47.389Z,1628987087.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:24:47.389Z,1628987087.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:24:47.391Z,1628987087.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:24:47.797Z,1628987087.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:24:48.630Z,1628987088.630 [Micromodem](INFO): Nmea in: $SNTTA,0.197838,,,,002448.60*40

2021-08-15T00:24:49.418Z,1628987089.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,059,000,040EA,185,80,80,1D,FF
2021-08-15T00:24:49.418Z,1628987089.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:24:49.844Z,1628987089.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 959.580017 m, bearing: 348.073762 deg, deltaT: 5.627601 s, approachRate: 120.456299 m/s, LOS rate: -2.763770 deg/s, posRepo size: 4
2021-08-15T00:24:49.846Z,1628987089.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 959.580017 m,
      bearing: 348.073762 deg,
      approachRate: 120.456299 m/s,
      LOS rate: -2.763770 deg/s,
      cmd update: -11.055081 deg/s,
      cmd heading: 3.627153 deg,
      new cmd heading: 3.627153 deg.

2021-08-15T00:24:52.278Z,1628987092.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:24:52.668Z,1628987092.668 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:24:52.669Z,1628987092.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:24:52.669Z,1628987092.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:24:52.671Z,1628987092.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:24:53.045Z,1628987093.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
059,000,040EA,185,80,80,1D,FF
2021-08-15T00:24:53.045Z,1628987093.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:24:53.045Z,1628987093.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:24:53.050Z,1628987093.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:24:53.457Z,1628987093.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:24:54.290Z,1628987094.290 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002454.26*5D

2021-08-15T00:24:55.081Z,1628987095.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,250,000,040FB,189,80,80,84,FF
2021-08-15T00:24:55.082Z,1628987095.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:24:55.493Z,1628987095.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 960.600098 m, bearing: 338.960459 deg, deltaT: 5.728078 s, approachRate: 0.178084 m/s, LOS rate: -1.590988 deg/s, posRepo size: 4
2021-08-15T00:24:55.495Z,1628987095.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 960.600098 m,
      bearing: 338.960459 deg,
      approachRate: 0.178084 m/s,
      LOS rate: -1.590988 deg/s,
      cmd update: -6.363951 deg/s,
      cmd heading: 300.435601 deg,
      new cmd heading: 296.665155 deg.

2021-08-15T00:24:57.950Z,1628987097.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:24:58.305Z,1628987098.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:24:58.305Z,1628987098.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:24:58.305Z,1628987098.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:24:58.306Z,1628987098.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:24:58.720Z,1628987098.720 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
250,000,040FB,189,80,80,84,FF
2021-08-15T00:24:58.721Z,1628987098.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:24:58.721Z,1628987098.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:24:58.730Z,1628987098.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:24:59.117Z,1628987099.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:24:59.949Z,1628987099.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,245,000,014F5,188,80,80,84,FF
2021-08-15T00:24:59.949Z,1628987099.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:24:59.952Z,1628987099.952 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002459.94*59

2021-08-15T00:25:00.364Z,1628987100.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 284.399994 m, bearing: 325.445127 deg, deltaT: 4.840714 s, approachRate: -139.690155 m/s, LOS rate: -2.792012 deg/s, posRepo size: 4
2021-08-15T00:25:00.366Z,1628987100.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.399994 m,
      bearing: 325.445127 deg,
      approachRate: -139.690155 m/s,
      LOS rate: -2.792012 deg/s,
      cmd update: -11.168049 deg/s,
      cmd heading: 269.553113 deg,
      new cmd heading: 267.262193 deg.

2021-08-15T00:25:02.937Z,1628987102.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:25:03.250Z,1628987103.250 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:25:03.250Z,1628987103.250 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:25:03.250Z,1628987103.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:25:03.251Z,1628987103.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:25:03.653Z,1628987103.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
245,000,014F5,188,80,80,84,FF
2021-08-15T00:25:03.653Z,1628987103.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:25:03.653Z,1628987103.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:25:03.655Z,1628987103.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:25:04.053Z,1628987104.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:25:04.927Z,1628987104.927 [Micromodem](INFO): Nmea in: $SNTTA,0.192031,,,,002504.87*44

2021-08-15T00:25:05.669Z,1628987105.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,040B4,189,80,80,84,FF
2021-08-15T00:25:05.670Z,1628987105.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:25:06.106Z,1628987106.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 956.340027 m, bearing: 269.410965 deg, deltaT: 5.706191 s, approachRate: 117.756325 m/s, LOS rate: -9.819888 deg/s, posRepo size: 4
2021-08-15T00:25:06.129Z,1628987106.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 956.340027 m,
      bearing: 269.410965 deg,
      approachRate: 117.756325 m/s,
      LOS rate: -9.819888 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 206.095934 deg,
      new cmd heading: 201.409910 deg.

2021-08-15T00:25:08.511Z,1628987108.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:25:08.913Z,1628987108.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:25:08.913Z,1628987108.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:25:08.914Z,1628987108.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:25:08.915Z,1628987108.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:25:09.309Z,1628987109.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,040B4,189,80,80,84,FF
2021-08-15T00:25:09.310Z,1628987109.310 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:25:09.310Z,1628987109.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:25:09.311Z,1628987109.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:25:09.716Z,1628987109.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:25:10.537Z,1628987110.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,014F8,189,80,80,98,FF
2021-08-15T00:25:10.537Z,1628987110.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:25:10.544Z,1628987110.544 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002510.53*5E

2021-08-15T00:25:11.006Z,1628987111.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 284.579987 m, bearing: 251.538682 deg, deltaT: 4.880976 s, approachRate: -137.628220 m/s, LOS rate: -3.661621 deg/s, posRepo size: 4
2021-08-15T00:25:11.009Z,1628987111.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.579987 m,
      bearing: 251.538682 deg,
      approachRate: -137.628220 m/s,
      LOS rate: -3.661621 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 147.331585 deg,
      new cmd heading: 142.278433 deg.

2021-08-15T00:25:13.360Z,1628987113.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:25:13.761Z,1628987113.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:25:13.761Z,1628987113.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:25:13.761Z,1628987113.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:25:13.762Z,1628987113.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:25:14.145Z,1628987114.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,014F8,189,80,80,98,FF
2021-08-15T00:25:14.145Z,1628987114.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:25:14.146Z,1628987114.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:25:14.147Z,1628987114.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:25:14.564Z,1628987114.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:25:15.385Z,1628987115.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,014E0,188,80,80,8A,FF
2021-08-15T00:25:15.385Z,1628987115.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:25:15.388Z,1628987115.388 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002515.36*58

2021-08-15T00:25:15.804Z,1628987115.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 283.139984 m, bearing: 234.024411 deg, deltaT: 4.851651 s, approachRate: -0.296807 m/s, LOS rate: -3.609961 deg/s, posRepo size: 4
2021-08-15T00:25:15.806Z,1628987115.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 283.139984 m,
      bearing: 234.024411 deg,
      approachRate: -0.296807 m/s,
      LOS rate: -3.609961 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 89.488008 deg,
      new cmd heading: 84.687804 deg.

2021-08-15T00:25:18.223Z,1628987118.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:25:18.609Z,1628987118.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:25:18.609Z,1628987118.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:25:18.609Z,1628987118.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:25:18.610Z,1628987118.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:25:18.997Z,1628987118.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,014E0,188,80,80,8A,FF
2021-08-15T00:25:18.997Z,1628987118.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:25:18.997Z,1628987118.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:25:18.999Z,1628987118.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:25:19.425Z,1628987119.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:25:20.245Z,1628987120.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,014BD,18A,80,80,98,FF
2021-08-15T00:25:20.245Z,1628987120.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:25:20.250Z,1628987120.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002520.21*58

2021-08-15T00:25:20.699Z,1628987120.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.039978 m, bearing: 232.711703 deg, deltaT: 4.904998 s, approachRate: -0.428136 m/s, LOS rate: -0.267627 deg/s, posRepo size: 4
2021-08-15T00:25:20.719Z,1628987120.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.039978 m,
      bearing: 232.711703 deg,
      approachRate: -0.428136 m/s,
      LOS rate: -0.267627 deg/s,
      cmd update: -1.070506 deg/s,
      cmd heading: 30.152734 deg,
      new cmd heading: 26.045494 deg.

2021-08-15T00:25:23.105Z,1628987123.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:25:23.450Z,1628987123.450 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:25:23.450Z,1628987123.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:25:23.451Z,1628987123.451 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:25:23.451Z,1628987123.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:25:23.858Z,1628987123.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,014BD,18A,80,80,98,FF
2021-08-15T00:25:23.858Z,1628987123.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:25:23.858Z,1628987123.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:25:23.863Z,1628987123.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:25:24.279Z,1628987124.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:25:25.097Z,1628987125.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D57,000,014A3,188,80,80,A7,FF
2021-08-15T00:25:25.097Z,1628987125.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:25:25.104Z,1628987125.104 [Micromodem](INFO): Nmea in: $SNTTA,0.356525,,,,002525.08*4A

2021-08-15T00:25:25.495Z,1628987125.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 279.479980 m, bearing: 350.647569 deg, deltaT: 4.851361 s, approachRate: -0.321559 m/s, LOS rate: 24.309852 deg/s, posRepo size: 4
2021-08-15T00:25:25.513Z,1628987125.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.309852 deg/s. Setting heading cmd to target bearing of 350.647569deg and heading rate command to 0 deg/s.
2021-08-15T00:25:27.941Z,1628987127.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:25:28.293Z,1628987128.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:25:28.293Z,1628987128.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:25:28.294Z,1628987128.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:25:28.295Z,1628987128.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:25:28.726Z,1628987128.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D57,000,014A3,188,80,80,A7,FF
2021-08-15T00:25:28.726Z,1628987128.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:25:28.727Z,1628987128.727 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:25:28.730Z,1628987128.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:25:29.119Z,1628987129.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:25:29.931Z,1628987129.931 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,014A7,189,80,80,3C,FF
2021-08-15T00:25:29.933Z,1628987129.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:25:29.967Z,1628987129.967 [Micromodem](INFO): Nmea in: $SNTTA,0.188628,,,,002529.94*4C

2021-08-15T00:25:30.372Z,1628987130.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 279.720001 m, bearing: 271.462372 deg, deltaT: 4.822911 s, approachRate: 0.049767 m/s, LOS rate: -16.418549 deg/s, posRepo size: 4
2021-08-15T00:25:30.373Z,1628987130.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.418549 deg/s. Setting heading cmd to target bearing of 271.462372deg and heading rate command to 0 deg/s.
2021-08-15T00:25:32.822Z,1628987132.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:25:33.137Z,1628987133.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:25:33.137Z,1628987133.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:25:33.137Z,1628987133.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:25:33.138Z,1628987133.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:25:33.541Z,1628987133.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,014A7,189,80,80,3C,FF
2021-08-15T00:25:33.541Z,1628987133.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:25:33.541Z,1628987133.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:25:33.543Z,1628987133.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:25:33.975Z,1628987133.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:25:34.786Z,1628987134.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,381,000,014A9,189,80,80,81,FF
2021-08-15T00:25:34.787Z,1628987134.787 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:25:34.811Z,1628987134.811 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002534.76*5F

2021-08-15T00:25:35.199Z,1628987135.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 279.839996 m, bearing: 308.459703 deg, deltaT: 4.935247 s, approachRate: 0.024314 m/s, LOS rate: 7.496551 deg/s, posRepo size: 4
2021-08-15T00:25:35.202Z,1628987135.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 279.839996 m,
      bearing: 308.459703 deg,
      approachRate: 0.024314 m/s,
      LOS rate: 7.496551 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 271.462372 deg,
      new cmd heading: 271.462372 deg.

2021-08-15T00:25:37.607Z,1628987137.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:25:37.993Z,1628987137.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:25:37.993Z,1628987137.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:25:37.993Z,1628987137.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:25:37.995Z,1628987137.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:25:38.401Z,1628987138.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
381,000,014A9,189,80,80,81,FF
2021-08-15T00:25:38.401Z,1628987138.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:25:38.401Z,1628987138.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:25:38.403Z,1628987138.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:25:38.831Z,1628987138.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:25:39.222Z,1628987139.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,0034F,183,80,80,22,FF
2021-08-15T00:25:39.223Z,1628987139.223 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:25:39.674Z,1628987139.674 [Micromodem](INFO): Nmea in: $SNTTA,0.086630,,,,002539.62*42

2021-08-15T00:25:39.729Z,1628987139.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 345.409251 deg, deltaT: 4.318083 s, approachRate: -61.721832 m/s, LOS rate: 8.556934 deg/s, posRepo size: 4
2021-08-15T00:25:39.729Z,1628987139.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 13.32 m.
2021-08-15T00:25:39.731Z,1628987139.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.319998 m,
      bearing: 345.409251 deg,
      approachRate: -61.721832 m/s,
      LOS rate: 8.556934 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 323.421929 deg,
      new cmd heading: 328.816817 deg.

2021-08-15T00:25:40.071Z,1628987140.071 [PowerOnly](INFO): Powering up loadControl
2021-08-15T00:25:40.114Z,1628987140.114 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T00:25:40.114Z,1628987140.114 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:25:40.114Z,1628987140.114 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T00:25:40.115Z,1628987140.115 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T00:25:40.115Z,1628987140.115 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T00:25:40.115Z,1628987140.115 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T00:25:40.512Z,1628987140.512 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T00:25:40.513Z,1628987140.513 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:25:40.513Z,1628987140.513 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T00:25:40.513Z,1628987140.513 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:25:42.144Z,1628987142.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:25:42.457Z,1628987142.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:25:42.457Z,1628987142.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:25:42.457Z,1628987142.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:25:42.458Z,1628987142.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:25:42.865Z,1628987142.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,0034F,183,80,80,22,FF
2021-08-15T00:25:42.866Z,1628987142.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:25:42.866Z,1628987142.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:25:42.868Z,1628987142.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:25:43.277Z,1628987143.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:25:44.098Z,1628987144.098 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002544.09*50

2021-08-15T00:25:44.998Z,1628987144.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:25:46.501Z,1628987146.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,183,80,80,22,FF
2021-08-15T00:25:46.501Z,1628987146.501 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,183,80,80,22,FF
2021-08-15T00:25:46.501Z,1628987146.501 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:25:47.736Z,1628987147.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:25:48.113Z,1628987148.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:25:48.113Z,1628987148.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:25:48.113Z,1628987148.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:25:48.114Z,1628987148.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:25:48.517Z,1628987148.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,183,80,80,22,FF
2021-08-15T00:25:48.517Z,1628987148.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:25:48.517Z,1628987148.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:25:48.519Z,1628987148.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:25:48.956Z,1628987148.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:25:49.750Z,1628987149.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002549.73*50

2021-08-15T00:25:50.587Z,1628987150.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:25:52.153Z,1628987152.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,183,80,80,22,FF
2021-08-15T00:25:52.153Z,1628987152.153 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,183,80,80,22,FF
2021-08-15T00:25:52.154Z,1628987152.154 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:25:53.400Z,1628987153.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:25:53.769Z,1628987153.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:25:53.769Z,1628987153.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:25:53.769Z,1628987153.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:25:53.770Z,1628987153.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:25:54.181Z,1628987154.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,183,80,80,22,FF
2021-08-15T00:25:54.181Z,1628987154.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:25:54.181Z,1628987154.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:25:54.183Z,1628987154.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:25:54.583Z,1628987154.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:25:55.421Z,1628987155.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DE,000,014D7,18A,80,80,8D,FF
2021-08-15T00:25:55.422Z,1628987155.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:25:55.425Z,1628987155.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002555.40*5D

2021-08-15T00:25:55.491Z,1628987155.491 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:25:55.831Z,1628987155.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 282.600006 m, bearing: 320.572115 deg, deltaT: 16.212281 s, approachRate: 16.609631 m/s, LOS rate: -1.531995 deg/s, posRepo size: 4
2021-08-15T00:25:55.834Z,1628987155.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.600006 m,
      bearing: 320.572115 deg,
      approachRate: 16.609631 m/s,
      LOS rate: -1.531995 deg/s,
      cmd update: -6.127981 deg/s,
      cmd heading: 157.925530 deg,
      new cmd heading: 162.099166 deg.

2021-08-15T00:25:56.255Z,1628987156.255 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T00:25:56.256Z,1628987156.256 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:25:56.256Z,1628987156.256 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T00:25:56.257Z,1628987156.257 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T00:25:56.257Z,1628987156.257 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T00:25:56.257Z,1628987156.257 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T00:25:56.647Z,1628987156.647 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T00:25:56.648Z,1628987156.648 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:25:56.649Z,1628987156.649 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T00:25:56.649Z,1628987156.649 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:25:58.270Z,1628987158.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:25:58.621Z,1628987158.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:25:58.621Z,1628987158.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:25:58.622Z,1628987158.622 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:25:58.623Z,1628987158.623 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:25:59.025Z,1628987159.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DE,000,014D7,18A,80,80,8D,FF
2021-08-15T00:25:59.025Z,1628987159.026 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:25:59.026Z,1628987159.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:25:59.027Z,1628987159.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:25:59.428Z,1628987159.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:26:00.257Z,1628987160.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23A,000,014F4,188,80,80,92,FF
2021-08-15T00:26:00.258Z,1628987160.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:26:00.261Z,1628987160.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002600.24*5C

2021-08-15T00:26:00.737Z,1628987160.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 284.339996 m, bearing: 350.542602 deg, deltaT: 4.858975 s, approachRate: 0.358098 m/s, LOS rate: 6.168068 deg/s, posRepo size: 4
2021-08-15T00:26:00.739Z,1628987160.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.339996 m,
      bearing: 350.542602 deg,
      approachRate: 0.358098 m/s,
      LOS rate: 6.168068 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 128.491882 deg,
      new cmd heading: 125.760255 deg.

2021-08-15T00:26:03.142Z,1628987163.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:26:03.465Z,1628987163.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:26:03.465Z,1628987163.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:26:03.465Z,1628987163.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:26:03.466Z,1628987163.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:26:03.877Z,1628987163.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23A,000,014F4,188,80,80,92,FF
2021-08-15T00:26:03.877Z,1628987163.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:26:03.878Z,1628987163.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:26:03.879Z,1628987163.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:26:04.285Z,1628987164.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:26:05.105Z,1628987165.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,01520,186,80,80,51,FF
2021-08-15T00:26:05.106Z,1628987165.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:26:05.109Z,1628987165.109 [Micromodem](INFO): Nmea in: $SNTTA,0.193678,,,,002605.10*42

2021-08-15T00:26:05.524Z,1628987165.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 286.979980 m, bearing: 57.567949 deg, deltaT: 4.849070 s, approachRate: 0.544431 m/s, LOS rate: 13.822309 deg/s, posRepo size: 4
2021-08-15T00:26:05.525Z,1628987165.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.822309 deg/s. Setting heading cmd to target bearing of 57.567949deg and heading rate command to 0 deg/s.
2021-08-15T00:26:07.970Z,1628987167.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:26:08.313Z,1628987168.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:26:08.313Z,1628987168.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:26:08.313Z,1628987168.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:26:08.314Z,1628987168.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:26:08.761Z,1628987168.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,01520,186,80,80,51,FF
2021-08-15T00:26:08.761Z,1628987168.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:26:08.761Z,1628987168.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:26:08.763Z,1628987168.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:26:09.125Z,1628987169.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:26:09.998Z,1628987169.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002609.98*52

2021-08-15T00:26:11.019Z,1628987171.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:26:12.061Z,1628987172.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,51,FF
2021-08-15T00:26:12.062Z,1628987172.062 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,51,FF
2021-08-15T00:26:12.062Z,1628987172.062 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:26:13.708Z,1628987173.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:26:14.073Z,1628987174.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:26:14.073Z,1628987174.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:26:14.073Z,1628987174.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:26:14.074Z,1628987174.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:26:14.481Z,1628987174.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,51,FF
2021-08-15T00:26:14.481Z,1628987174.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:26:14.481Z,1628987174.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:26:14.483Z,1628987174.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:26:14.917Z,1628987174.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:26:15.721Z,1628987175.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,01596,185,80,80,3E,FF
2021-08-15T00:26:15.722Z,1628987175.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:26:15.725Z,1628987175.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002615.70*59

2021-08-15T00:26:16.145Z,1628987176.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.059998 m, bearing: 84.829891 deg, deltaT: 10.561310 s, approachRate: 0.670373 m/s, LOS rate: 2.581303 deg/s, posRepo size: 4
2021-08-15T00:26:16.147Z,1628987176.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.059998 m,
      bearing: 84.829891 deg,
      approachRate: 0.670373 m/s,
      LOS rate: 2.581303 deg/s,
      cmd update: 10.325212 deg/s,
      cmd heading: 57.567949 deg,
      new cmd heading: 57.567949 deg.

2021-08-15T00:26:18.569Z,1628987178.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:26:18.976Z,1628987178.976 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:26:18.977Z,1628987178.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:26:18.977Z,1628987178.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:26:18.978Z,1628987178.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:26:19.329Z,1628987179.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,01596,185,80,80,3E,FF
2021-08-15T00:26:19.329Z,1628987179.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:26:19.329Z,1628987179.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:26:19.331Z,1628987179.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:26:19.736Z,1628987179.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:26:20.578Z,1628987180.578 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002620.55*58

2021-08-15T00:26:20.969Z,1628987180.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,0287C,187,80,80,5E,FF
2021-08-15T00:26:20.970Z,1628987180.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:26:21.396Z,1628987181.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 584.339966 m, bearing: 89.640229 deg, deltaT: 5.299027 s, approachRate: 54.779861 m/s, LOS rate: 0.907778 deg/s, posRepo size: 4
2021-08-15T00:26:21.398Z,1628987181.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 584.339966 m,
      bearing: 89.640229 deg,
      approachRate: 54.779861 m/s,
      LOS rate: 0.907778 deg/s,
      cmd update: 3.631110 deg/s,
      cmd heading: 112.387722 deg,
      new cmd heading: 115.913751 deg.

2021-08-15T00:26:23.827Z,1628987183.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:26:24.181Z,1628987184.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:26:24.181Z,1628987184.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:26:24.181Z,1628987184.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:26:24.182Z,1628987184.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:26:24.585Z,1628987184.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,0287C,187,80,80,5E,FF
2021-08-15T00:26:24.585Z,1628987184.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:26:24.585Z,1628987184.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:26:24.587Z,1628987184.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:26:25.010Z,1628987185.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:26:25.819Z,1628987185.819 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F5,000,015F0,188,80,80,69,FF
2021-08-15T00:26:25.819Z,1628987185.819 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:26:25.822Z,1628987185.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002625.80*55

2021-08-15T00:26:26.270Z,1628987186.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 299.459991 m, bearing: 38.346069 deg, deltaT: 4.782148 s, approachRate: -59.571552 m/s, LOS rate: -10.726176 deg/s, posRepo size: 4
2021-08-15T00:26:26.276Z,1628987186.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 299.459991 m,
      bearing: 38.346069 deg,
      approachRate: -59.571552 m/s,
      LOS rate: -10.726176 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 129.774644 deg,
      new cmd heading: 131.336330 deg.

2021-08-15T00:26:28.705Z,1628987188.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:26:29.018Z,1628987189.018 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:26:29.019Z,1628987189.019 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:26:29.019Z,1628987189.019 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:26:29.020Z,1628987189.020 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:26:29.434Z,1628987189.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F5,000,015F0,188,80,80,69,FF
2021-08-15T00:26:29.434Z,1628987189.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:26:29.434Z,1628987189.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:26:29.436Z,1628987189.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:26:29.846Z,1628987189.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:26:30.669Z,1628987190.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,01622,186,80,80,6F,FF
2021-08-15T00:26:30.670Z,1628987190.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:26:30.717Z,1628987190.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002630.65*5A

2021-08-15T00:26:31.101Z,1628987191.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.459991 m, bearing: 106.346045 deg, deltaT: 4.970488 s, approachRate: 0.603562 m/s, LOS rate: 13.680744 deg/s, posRepo size: 4
2021-08-15T00:26:31.102Z,1628987191.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.680744 deg/s. Setting heading cmd to target bearing of 106.346045deg and heading rate command to 0 deg/s.
2021-08-15T00:26:33.494Z,1628987193.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:26:33.879Z,1628987193.879 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:26:33.880Z,1628987193.880 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:26:33.881Z,1628987193.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:26:33.882Z,1628987193.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:26:34.289Z,1628987194.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,01622,186,80,80,6F,FF
2021-08-15T00:26:34.289Z,1628987194.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:26:34.290Z,1628987194.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:26:34.291Z,1628987194.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:26:34.704Z,1628987194.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:26:35.513Z,1628987195.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,0164A,187,80,80,6E,FF
2021-08-15T00:26:35.514Z,1628987195.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:26:35.516Z,1628987195.516 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002635.51*58

2021-08-15T00:26:35.999Z,1628987195.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 304.859985 m, bearing: 107.381447 deg, deltaT: 4.765624 s, approachRate: 0.503605 m/s, LOS rate: 0.217265 deg/s, posRepo size: 4
2021-08-15T00:26:36.005Z,1628987196.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.859985 m,
      bearing: 107.381447 deg,
      approachRate: 0.503605 m/s,
      LOS rate: 0.217265 deg/s,
      cmd update: 0.869059 deg/s,
      cmd heading: 106.346045 deg,
      new cmd heading: 106.346045 deg.

2021-08-15T00:26:38.363Z,1628987198.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:26:38.761Z,1628987198.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:26:38.761Z,1628987198.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:26:38.761Z,1628987198.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:26:38.762Z,1628987198.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:26:39.128Z,1628987199.128 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,0164A,187,80,80,6E,FF
2021-08-15T00:26:39.128Z,1628987199.128 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:26:39.129Z,1628987199.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:26:39.130Z,1628987199.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:26:39.533Z,1628987199.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:26:40.371Z,1628987200.371 [Micromodem](INFO): Nmea in: $SNTTA,0.207483,,,,002640.35*4C

2021-08-15T00:26:41.194Z,1628987201.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:26:42.773Z,1628987202.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,187,80,80,6E,FF
2021-08-15T00:26:42.773Z,1628987202.773 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,187,80,80,6E,FF
2021-08-15T00:26:42.773Z,1628987202.773 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:26:44.019Z,1628987204.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:26:44.389Z,1628987204.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:26:44.389Z,1628987204.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:26:44.389Z,1628987204.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:26:44.390Z,1628987204.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:26:44.788Z,1628987204.788 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,187,80,80,6E,FF
2021-08-15T00:26:44.788Z,1628987204.788 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:26:44.789Z,1628987204.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:26:44.790Z,1628987204.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:26:45.211Z,1628987205.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:26:46.042Z,1628987206.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E59,000,016AE,186,80,80,66,FF
2021-08-15T00:26:46.043Z,1628987206.043 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:26:46.046Z,1628987206.046 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002646.01*59

2021-08-15T00:26:46.466Z,1628987206.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 310.859985 m, bearing: 121.501566 deg, deltaT: 10.516514 s, approachRate: 0.570531 m/s, LOS rate: 1.342662 deg/s, posRepo size: 4
2021-08-15T00:26:46.469Z,1628987206.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.859985 m,
      bearing: 121.501566 deg,
      approachRate: 0.570531 m/s,
      LOS rate: 1.342662 deg/s,
      cmd update: 5.370646 deg/s,
      cmd heading: 115.474973 deg,
      new cmd heading: 115.813458 deg.

2021-08-15T00:26:48.941Z,1628987208.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:26:49.250Z,1628987209.250 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:26:49.251Z,1628987209.251 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:26:49.251Z,1628987209.251 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:26:49.252Z,1628987209.252 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:26:49.649Z,1628987209.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E59,000,016AE,186,80,80,66,FF
2021-08-15T00:26:49.649Z,1628987209.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:26:49.649Z,1628987209.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:26:49.651Z,1628987209.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:26:50.052Z,1628987210.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:26:50.893Z,1628987210.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,016D5,186,80,80,5F,FF
2021-08-15T00:26:50.894Z,1628987210.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:26:50.932Z,1628987210.932 [Micromodem](INFO): Nmea in: $SNTTA,0.210611,,,,002650.87*4B

2021-08-15T00:26:51.339Z,1628987211.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 313.199982 m, bearing: 100.055093 deg, deltaT: 4.902446 s, approachRate: 0.477312 m/s, LOS rate: -4.374647 deg/s, posRepo size: 4
2021-08-15T00:26:51.341Z,1628987211.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.199982 m,
      bearing: 100.055093 deg,
      approachRate: 0.477312 m/s,
      LOS rate: -4.374647 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 141.891167 deg,
      new cmd heading: 143.670586 deg.

2021-08-15T00:26:53.713Z,1628987213.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:26:54.097Z,1628987214.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:26:54.097Z,1628987214.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:26:54.097Z,1628987214.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:26:54.097Z,1628987214.097 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:26:54.493Z,1628987214.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,016D5,186,80,80,5F,FF
2021-08-15T00:26:54.493Z,1628987214.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:26:54.494Z,1628987214.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:26:54.495Z,1628987214.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:26:54.919Z,1628987214.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:26:55.733Z,1628987215.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC5,000,016EC,18A,80,80,8B,FF
2021-08-15T00:26:55.734Z,1628987215.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:26:55.737Z,1628987215.737 [Micromodem](INFO): Nmea in: $SNTTA,0.212159,,,,002655.71*4E

2021-08-15T00:26:56.167Z,1628987216.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 314.579987 m, bearing: 167.485842 deg, deltaT: 4.768773 s, approachRate: 0.289384 m/s, LOS rate: 14.140063 deg/s, posRepo size: 4
2021-08-15T00:26:56.167Z,1628987216.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.140063 deg/s. Setting heading cmd to target bearing of 167.485842deg and heading rate command to 0 deg/s.
2021-08-15T00:26:58.584Z,1628987218.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:26:58.965Z,1628987218.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:26:58.965Z,1628987218.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:26:58.965Z,1628987218.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:26:58.966Z,1628987218.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:26:59.349Z,1628987219.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC5,000,016EC,18A,80,80,8B,FF
2021-08-15T00:26:59.349Z,1628987219.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:26:59.350Z,1628987219.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:26:59.351Z,1628987219.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:26:59.757Z,1628987219.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:27:00.577Z,1628987220.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C91,000,016FC,189,80,80,76,FF
2021-08-15T00:27:00.577Z,1628987220.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:27:00.580Z,1628987220.580 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002700.57*59

2021-08-15T00:27:01.046Z,1628987221.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 315.539978 m, bearing: 163.839190 deg, deltaT: 4.834082 s, approachRate: 0.198588 m/s, LOS rate: -0.754363 deg/s, posRepo size: 4
2021-08-15T00:27:01.048Z,1628987221.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 315.539978 m,
      bearing: 163.839190 deg,
      approachRate: 0.198588 m/s,
      LOS rate: -0.754363 deg/s,
      cmd update: -3.017451 deg/s,
      cmd heading: 167.485842 deg,
      new cmd heading: 167.485842 deg.

2021-08-15T00:27:03.423Z,1628987223.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:27:03.789Z,1628987223.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:27:03.789Z,1628987223.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:27:03.789Z,1628987223.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:27:03.790Z,1628987223.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:27:04.193Z,1628987224.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C91,000,016FC,189,80,80,76,FF
2021-08-15T00:27:04.193Z,1628987224.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:27:04.193Z,1628987224.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:27:04.195Z,1628987224.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:27:04.606Z,1628987224.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:27:05.449Z,1628987225.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,01719,185,80,80,99,FF
2021-08-15T00:27:05.449Z,1628987225.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:27:05.452Z,1628987225.452 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002705.41*5B

2021-08-15T00:27:05.844Z,1628987225.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 317.279999 m, bearing: 134.408766 deg, deltaT: 4.874175 s, approachRate: 0.356988 m/s, LOS rate: -6.038032 deg/s, posRepo size: 4
2021-08-15T00:27:05.846Z,1628987225.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 317.279999 m,
      bearing: 134.408766 deg,
      approachRate: 0.356988 m/s,
      LOS rate: -6.038032 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 152.778229 deg,
      new cmd heading: 151.652593 deg.

2021-08-15T00:27:08.303Z,1628987228.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:27:08.641Z,1628987228.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:27:08.641Z,1628987228.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:27:08.642Z,1628987228.642 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:27:08.643Z,1628987228.643 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:27:09.066Z,1628987229.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,01719,185,80,80,99,FF
2021-08-15T00:27:09.066Z,1628987229.066 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:27:09.066Z,1628987229.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:27:09.068Z,1628987229.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:27:09.449Z,1628987229.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:27:10.273Z,1628987230.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1F,000,01735,189,80,80,8C,FF
2021-08-15T00:27:10.273Z,1628987230.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:27:10.277Z,1628987230.277 [Micromodem](INFO): Nmea in: $SNTTA,0.215138,,,,002710.28*42

2021-08-15T00:27:10.818Z,1628987230.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 318.959991 m, bearing: 163.621403 deg, deltaT: 4.870717 s, approachRate: 0.344917 m/s, LOS rate: 5.997605 deg/s, posRepo size: 4
2021-08-15T00:27:10.821Z,1628987230.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 318.959991 m,
      bearing: 163.621403 deg,
      approachRate: 0.344917 m/s,
      LOS rate: 5.997605 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 94.428432 deg,
      new cmd heading: 88.602599 deg.

2021-08-15T00:27:13.135Z,1628987233.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:27:13.485Z,1628987233.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:27:13.485Z,1628987233.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:27:13.485Z,1628987233.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:27:13.486Z,1628987233.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:27:13.925Z,1628987233.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1F,000,01735,189,80,80,8C,FF
2021-08-15T00:27:13.925Z,1628987233.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:27:13.925Z,1628987233.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:27:13.927Z,1628987233.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:27:14.301Z,1628987234.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:27:15.119Z,1628987235.119 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB1,000,01746,18A,80,80,91,FF
2021-08-15T00:27:15.120Z,1628987235.120 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:27:15.129Z,1628987235.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002715.14*5A

2021-08-15T00:27:15.552Z,1628987235.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 319.979980 m, bearing: 163.211332 deg, deltaT: 4.861052 s, approachRate: 0.209829 m/s, LOS rate: -0.084358 deg/s, posRepo size: 4
2021-08-15T00:27:15.554Z,1628987235.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 319.979980 m,
      bearing: 163.211332 deg,
      approachRate: 0.209829 m/s,
      LOS rate: -0.084358 deg/s,
      cmd update: -0.337434 deg/s,
      cmd heading: 152.812070 deg,
      new cmd heading: 157.052198 deg.

2021-08-15T00:27:18.008Z,1628987238.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:27:18.333Z,1628987238.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:27:18.333Z,1628987238.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:27:18.333Z,1628987238.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:27:18.334Z,1628987238.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:27:18.777Z,1628987238.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB1,000,01746,18A,80,80,91,FF
2021-08-15T00:27:18.777Z,1628987238.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:27:18.778Z,1628987238.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:27:18.779Z,1628987238.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:27:19.149Z,1628987239.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:27:19.979Z,1628987239.979 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,01761,186,80,80,98,FF
2021-08-15T00:27:19.980Z,1628987239.980 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:27:19.989Z,1628987239.989 [Micromodem](INFO): Nmea in: $SNTTA,0.216182,,,,002719.99*43

2021-08-15T00:27:20.423Z,1628987240.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 321.599976 m, bearing: 133.518382 deg, deltaT: 4.829594 s, approachRate: 0.335431 m/s, LOS rate: -6.148126 deg/s, posRepo size: 4
2021-08-15T00:27:20.441Z,1628987240.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 321.599976 m,
      bearing: 133.518382 deg,
      approachRate: 0.335431 m/s,
      LOS rate: -6.148126 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 151.182411 deg,
      new cmd heading: 151.049128 deg.

2021-08-15T00:27:22.918Z,1628987242.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:27:23.186Z,1628987243.186 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:27:23.186Z,1628987243.186 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:27:23.186Z,1628987243.186 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:27:23.187Z,1628987243.187 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:27:23.590Z,1628987243.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E72,000,01761,186,80,80,98,FF
2021-08-15T00:27:23.590Z,1628987243.590 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:27:23.590Z,1628987243.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:27:23.595Z,1628987243.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:27:23.993Z,1628987243.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:27:24.814Z,1628987244.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D05,000,01782,189,80,80,91,FF
2021-08-15T00:27:24.815Z,1628987244.815 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:27:24.818Z,1628987244.818 [Micromodem](INFO): Nmea in: $SNTTA,0.215334,,,,002724.81*48

2021-08-15T00:27:25.288Z,1628987245.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 323.579987 m, bearing: 164.959532 deg, deltaT: 4.909429 s, approachRate: 0.403308 m/s, LOS rate: 6.404238 deg/s, posRepo size: 4
2021-08-15T00:27:25.290Z,1628987245.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 323.579987 m,
      bearing: 164.959532 deg,
      approachRate: 0.403308 m/s,
      LOS rate: 6.404238 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 92.321497 deg,
      new cmd heading: 88.109509 deg.

2021-08-15T00:27:27.681Z,1628987247.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:27:28.029Z,1628987248.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:27:28.029Z,1628987248.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:27:28.029Z,1628987248.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:27:28.030Z,1628987248.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:27:28.441Z,1628987248.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D05,000,01782,189,80,80,91,FF
2021-08-15T00:27:28.442Z,1628987248.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:27:28.442Z,1628987248.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:27:28.444Z,1628987248.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:27:28.841Z,1628987248.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:27:29.670Z,1628987249.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF3,000,01793,189,80,80,83,FF
2021-08-15T00:27:29.670Z,1628987249.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:27:29.673Z,1628987249.673 [Micromodem](INFO): Nmea in: $SNTTA,0.218298,,,,002729.66*46

2021-08-15T00:27:30.141Z,1628987250.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 324.600006 m, bearing: 159.405168 deg, deltaT: 4.748289 s, approachRate: 0.214818 m/s, LOS rate: -1.169761 deg/s, posRepo size: 4
2021-08-15T00:27:30.143Z,1628987250.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 324.600006 m,
      bearing: 159.405168 deg,
      approachRate: 0.214818 m/s,
      LOS rate: -1.169761 deg/s,
      cmd update: -4.679045 deg/s,
      cmd heading: 149.400915 deg,
      new cmd heading: 154.768707 deg.

2021-08-15T00:27:32.516Z,1628987252.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:27:32.912Z,1628987252.912 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:27:32.913Z,1628987252.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:27:32.913Z,1628987252.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:27:32.915Z,1628987252.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:27:33.325Z,1628987253.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF3,000,01793,189,80,80,83,FF
2021-08-15T00:27:33.325Z,1628987253.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:27:33.325Z,1628987253.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:27:33.333Z,1628987253.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:27:33.713Z,1628987253.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:27:34.503Z,1628987254.503 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,017B1,186,80,80,79,FF
2021-08-15T00:27:34.505Z,1628987254.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:27:34.511Z,1628987254.511 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002734.55*5C

2021-08-15T00:27:35.076Z,1628987255.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 326.399994 m, bearing: 126.557887 deg, deltaT: 4.889376 s, approachRate: 0.368143 m/s, LOS rate: -6.718093 deg/s, posRepo size: 4
2021-08-15T00:27:35.078Z,1628987255.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 326.399994 m,
      bearing: 126.557887 deg,
      approachRate: 0.368143 m/s,
      LOS rate: -6.718093 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 126.542086 deg,
      new cmd heading: 124.197197 deg.

2021-08-15T00:27:37.368Z,1628987257.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:27:37.733Z,1628987257.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:27:37.733Z,1628987257.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:27:37.733Z,1628987257.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:27:37.734Z,1628987257.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:27:38.137Z,1628987258.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,017B1,186,80,80,79,FF
2021-08-15T00:27:38.137Z,1628987258.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:27:38.137Z,1628987258.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:27:38.139Z,1628987258.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:27:38.553Z,1628987258.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:27:39.373Z,1628987259.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E16,000,017CD,187,80,80,60,FF
2021-08-15T00:27:39.373Z,1628987259.373 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:27:39.404Z,1628987259.404 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002739.36*54

2021-08-15T00:27:39.788Z,1628987259.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 328.079987 m, bearing: 146.010484 deg, deltaT: 4.866224 s, approachRate: 0.345235 m/s, LOS rate: 3.997473 deg/s, posRepo size: 4
2021-08-15T00:27:39.790Z,1628987259.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 328.079987 m,
      bearing: 146.010484 deg,
      approachRate: 0.345235 m/s,
      LOS rate: 3.997473 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 68.198229 deg,
      new cmd heading: 63.986097 deg.

2021-08-15T00:27:42.214Z,1628987262.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:27:42.581Z,1628987262.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:27:42.581Z,1628987262.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:27:42.581Z,1628987262.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:27:42.582Z,1628987262.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:27:42.989Z,1628987262.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E16,000,017CD,187,80,80,60,FF
2021-08-15T00:27:42.989Z,1628987262.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:27:42.989Z,1628987262.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:27:42.991Z,1628987262.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:27:43.405Z,1628987263.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:27:44.213Z,1628987264.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,0101A,185,80,80,7C,FF
2021-08-15T00:27:44.214Z,1628987264.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:27:44.217Z,1628987264.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002744.21*58

2021-08-15T00:27:44.636Z,1628987264.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.819977 m, bearing: 113.929208 deg, deltaT: 4.863979 s, approachRate: -24.313429 m/s, LOS rate: -6.595685 deg/s, posRepo size: 4
2021-08-15T00:27:44.638Z,1628987264.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.819977 m,
      bearing: 113.929208 deg,
      approachRate: -24.313429 m/s,
      LOS rate: -6.595685 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 126.557902 deg,
      new cmd heading: 130.580314 deg.

2021-08-15T00:27:47.101Z,1628987267.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:27:47.429Z,1628987267.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:27:47.429Z,1628987267.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:27:47.429Z,1628987267.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:27:47.430Z,1628987267.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:27:47.834Z,1628987267.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,0101A,185,80,80,7C,FF
2021-08-15T00:27:47.834Z,1628987267.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:27:47.834Z,1628987267.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:27:47.836Z,1628987267.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:27:48.243Z,1628987268.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:27:49.070Z,1628987269.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002749.05*53

2021-08-15T00:27:49.882Z,1628987269.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:27:51.473Z,1628987271.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,185,80,80,7C,FF
2021-08-15T00:27:51.473Z,1628987271.473 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,185,80,80,7C,FF
2021-08-15T00:27:51.474Z,1628987271.474 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:27:52.766Z,1628987272.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:27:53.093Z,1628987273.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:27:53.093Z,1628987273.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:27:53.093Z,1628987273.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:27:53.094Z,1628987273.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:27:53.493Z,1628987273.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,185,80,80,7C,FF
2021-08-15T00:27:53.493Z,1628987273.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:27:53.493Z,1628987273.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:27:53.495Z,1628987273.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:27:53.923Z,1628987273.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:27:54.753Z,1628987274.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,0183F,186,80,80,6C,FF
2021-08-15T00:27:54.753Z,1628987274.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:27:54.759Z,1628987274.759 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002754.71*5C

2021-08-15T00:27:55.145Z,1628987275.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 334.919983 m, bearing: 102.381510 deg, deltaT: 10.509580 s, approachRate: 11.903426 m/s, LOS rate: -1.098778 deg/s, posRepo size: 4
2021-08-15T00:27:55.147Z,1628987275.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 334.919983 m,
      bearing: 102.381510 deg,
      approachRate: 11.903426 m/s,
      LOS rate: -1.098778 deg/s,
      cmd update: -4.395113 deg/s,
      cmd heading: 0.624187 deg,
      new cmd heading: 356.419123 deg.

2021-08-15T00:27:57.558Z,1628987277.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:27:57.953Z,1628987277.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:27:57.953Z,1628987277.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:27:57.953Z,1628987277.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:27:57.954Z,1628987277.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:27:58.337Z,1628987278.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,0183F,186,80,80,6C,FF
2021-08-15T00:27:58.337Z,1628987278.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:27:58.337Z,1628987278.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:27:58.339Z,1628987278.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:27:58.773Z,1628987278.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:27:59.573Z,1628987279.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,0186F,187,80,80,2B,FF
2021-08-15T00:27:59.573Z,1628987279.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:27:59.576Z,1628987279.576 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002759.55*57

2021-08-15T00:28:00.034Z,1628987280.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 337.799988 m, bearing: 79.719618 deg, deltaT: 4.838923 s, approachRate: 0.595175 m/s, LOS rate: -4.683251 deg/s, posRepo size: 4
2021-08-15T00:28:00.036Z,1628987280.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.799988 m,
      bearing: 79.719618 deg,
      approachRate: 0.595175 m/s,
      LOS rate: -4.683251 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 339.289406 deg,
      new cmd heading: 337.598870 deg.

2021-08-15T00:28:02.418Z,1628987282.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:28:02.781Z,1628987282.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:28:02.781Z,1628987282.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:28:02.781Z,1628987282.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:28:02.782Z,1628987282.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:28:03.194Z,1628987283.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,0186F,187,80,80,2B,FF
2021-08-15T00:28:03.194Z,1628987283.194 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:28:03.194Z,1628987283.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:28:03.196Z,1628987283.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:28:03.597Z,1628987283.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:28:04.433Z,1628987284.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,018A1,186,80,80,65,FF
2021-08-15T00:28:04.434Z,1628987284.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:28:04.437Z,1628987284.437 [Micromodem](INFO): Nmea in: $SNTTA,0.229452,,,,002804.41*41

2021-08-15T00:28:04.909Z,1628987284.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 340.799988 m, bearing: 73.073906 deg, deltaT: 4.819879 s, approachRate: 0.622422 m/s, LOS rate: -1.378813 deg/s, posRepo size: 4
2021-08-15T00:28:04.919Z,1628987284.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 340.799988 m,
      bearing: 73.073906 deg,
      approachRate: 0.622422 m/s,
      LOS rate: -1.378813 deg/s,
      cmd update: -5.515253 deg/s,
      cmd heading: 281.400673 deg,
      new cmd heading: 276.409141 deg.

2021-08-15T00:28:07.273Z,1628987287.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:28:07.629Z,1628987287.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:28:07.629Z,1628987287.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:28:07.629Z,1628987287.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:28:07.630Z,1628987287.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:28:08.033Z,1628987288.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,018A1,186,80,80,65,FF
2021-08-15T00:28:08.033Z,1628987288.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:28:08.033Z,1628987288.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:28:08.035Z,1628987288.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:28:08.447Z,1628987288.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:28:09.277Z,1628987289.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,316,000,018CD,188,80,80,4A,FF
2021-08-15T00:28:09.277Z,1628987289.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:28:09.280Z,1628987289.280 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002809.25*5A

2021-08-15T00:28:09.700Z,1628987289.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 343.440002 m, bearing: 354.372508 deg, deltaT: 4.829018 s, approachRate: 0.546698 m/s, LOS rate: -16.297598 deg/s, posRepo size: 4
2021-08-15T00:28:09.701Z,1628987289.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.297598 deg/s. Setting heading cmd to target bearing of 354.372508deg and heading rate command to 0 deg/s.
2021-08-15T00:28:12.112Z,1628987292.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:28:12.477Z,1628987292.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:28:12.477Z,1628987292.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:28:12.477Z,1628987292.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:28:12.478Z,1628987292.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:28:12.896Z,1628987292.896 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
316,000,018CD,188,80,80,4A,FF
2021-08-15T00:28:12.897Z,1628987292.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:28:12.897Z,1628987292.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:28:12.903Z,1628987292.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:28:13.307Z,1628987293.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:28:13.697Z,1628987293.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A6,000,006D8,18A,80,80,3A,FF
2021-08-15T00:28:13.697Z,1628987293.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:28:14.117Z,1628987294.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002814.12*52

2021-08-15T00:28:14.157Z,1628987294.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.619995 m, bearing: 344.926274 deg, deltaT: 4.432261 s, approachRate: -62.230091 m/s, LOS rate: -2.131245 deg/s, posRepo size: 4
2021-08-15T00:28:14.159Z,1628987294.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.619995 m,
      bearing: 344.926274 deg,
      approachRate: -62.230091 m/s,
      LOS rate: -2.131245 deg/s,
      cmd update: -8.524979 deg/s,
      cmd heading: 354.372508 deg,
      new cmd heading: 354.372508 deg.

2021-08-15T00:28:16.563Z,1628987296.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:28:16.950Z,1628987296.950 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:28:16.950Z,1628987296.950 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:28:16.950Z,1628987296.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:28:16.951Z,1628987296.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:28:17.333Z,1628987297.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A6,000,006D8,18A,80,80,3A,FF
2021-08-15T00:28:17.334Z,1628987297.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:28:17.334Z,1628987297.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:28:17.335Z,1628987297.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:28:17.733Z,1628987297.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:28:18.553Z,1628987298.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20F,000,0190A,186,80,80,95,FF
2021-08-15T00:28:18.554Z,1628987298.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:28:18.557Z,1628987298.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002818.55*5D

2021-08-15T00:28:19.046Z,1628987299.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 347.099976 m, bearing: 333.230859 deg, deltaT: 4.833536 s, approachRate: 57.821018 m/s, LOS rate: -2.419640 deg/s, posRepo size: 4
2021-08-15T00:28:19.052Z,1628987299.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.099976 m,
      bearing: 333.230859 deg,
      approachRate: 57.821018 m/s,
      LOS rate: -2.419640 deg/s,
      cmd update: -9.678558 deg/s,
      cmd heading: 313.164625 deg,
      new cmd heading: 309.130272 deg.

2021-08-15T00:28:21.389Z,1628987301.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:28:21.769Z,1628987301.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:28:21.769Z,1628987301.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:28:21.769Z,1628987301.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:28:21.770Z,1628987301.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:28:22.173Z,1628987302.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20F,000,0190A,186,80,80,95,FF
2021-08-15T00:28:22.173Z,1628987302.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:28:22.173Z,1628987302.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:28:22.175Z,1628987302.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:28:22.590Z,1628987302.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:28:23.405Z,1628987303.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,0191A,184,80,80,67,FF
2021-08-15T00:28:23.405Z,1628987303.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:28:23.408Z,1628987303.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002823.39*5F

2021-08-15T00:28:23.831Z,1628987303.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 348.059967 m, bearing: 344.286204 deg, deltaT: 4.888966 s, approachRate: 0.196359 m/s, LOS rate: 2.261285 deg/s, posRepo size: 4
2021-08-15T00:28:23.834Z,1628987303.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.059967 m,
      bearing: 344.286204 deg,
      approachRate: 0.196359 m/s,
      LOS rate: 2.261285 deg/s,
      cmd update: 9.045139 deg/s,
      cmd heading: 266.159864 deg,
      new cmd heading: 262.265474 deg.

2021-08-15T00:28:26.266Z,1628987306.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:28:26.625Z,1628987306.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:28:26.625Z,1628987306.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:28:26.625Z,1628987306.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:28:26.626Z,1628987306.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:28:27.021Z,1628987307.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,0191A,184,80,80,67,FF
2021-08-15T00:28:27.021Z,1628987307.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:28:27.021Z,1628987307.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:28:27.023Z,1628987307.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:28:27.440Z,1628987307.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:28:28.253Z,1628987308.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01929,189,80,80,42,FF
2021-08-15T00:28:28.254Z,1628987308.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:28:28.257Z,1628987308.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002828.24*58

2021-08-15T00:28:28.734Z,1628987308.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 348.959991 m, bearing: 258.275161 deg, deltaT: 4.821425 s, approachRate: 0.186672 m/s, LOS rate: -17.839341 deg/s, posRepo size: 4
2021-08-15T00:28:28.735Z,1628987308.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.839341 deg/s. Setting heading cmd to target bearing of 258.275161deg and heading rate command to 0 deg/s.
2021-08-15T00:28:31.137Z,1628987311.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:28:31.477Z,1628987311.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:28:31.477Z,1628987311.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:28:31.477Z,1628987311.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:28:31.478Z,1628987311.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:28:31.881Z,1628987311.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01929,189,80,80,42,FF
2021-08-15T00:28:31.881Z,1628987311.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:28:31.881Z,1628987311.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:28:31.883Z,1628987311.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:28:32.288Z,1628987312.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:28:33.109Z,1628987313.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01914,18A,80,80,A3,FF
2021-08-15T00:28:33.109Z,1628987313.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:28:33.112Z,1628987313.112 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002833.10*55

2021-08-15T00:28:33.536Z,1628987313.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 347.699982 m, bearing: 243.006191 deg, deltaT: 4.858463 s, approachRate: -0.259343 m/s, LOS rate: -3.142757 deg/s, posRepo size: 4
2021-08-15T00:28:33.538Z,1628987313.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.699982 m,
      bearing: 243.006191 deg,
      approachRate: -0.259343 m/s,
      LOS rate: -3.142757 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 258.275161 deg,
      new cmd heading: 258.275161 deg.

2021-08-15T00:28:35.962Z,1628987315.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:28:36.313Z,1628987316.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:28:36.313Z,1628987316.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:28:36.313Z,1628987316.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:28:36.314Z,1628987316.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:28:36.765Z,1628987316.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01914,18A,80,80,A3,FF
2021-08-15T00:28:36.765Z,1628987316.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:28:36.766Z,1628987316.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:28:36.767Z,1628987316.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:28:37.169Z,1628987317.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:28:38.018Z,1628987318.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002837.99*50

2021-08-15T00:28:38.829Z,1628987318.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:28:40.405Z,1628987320.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,18A,80,80,A3,FF
2021-08-15T00:28:40.405Z,1628987320.405 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,18A,80,80,A3,FF
2021-08-15T00:28:40.406Z,1628987320.406 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:28:41.649Z,1628987321.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:28:42.017Z,1628987322.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:28:42.017Z,1628987322.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:28:42.017Z,1628987322.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:28:42.018Z,1628987322.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:28:42.425Z,1628987322.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,18A,80,80,A3,FF
2021-08-15T00:28:42.425Z,1628987322.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:28:42.425Z,1628987322.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:28:42.427Z,1628987322.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:28:42.828Z,1628987322.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:28:43.649Z,1628987323.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,342,000,018DE,188,80,80,9E,FF
2021-08-15T00:28:43.650Z,1628987323.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:28:43.653Z,1628987323.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002843.65*50

2021-08-15T00:28:44.083Z,1628987324.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 344.460022 m, bearing: 231.030329 deg, deltaT: 10.559798 s, approachRate: -0.306820 m/s, LOS rate: -1.134100 deg/s, posRepo size: 4
2021-08-15T00:28:44.085Z,1628987324.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.460022 m,
      bearing: 231.030329 deg,
      approachRate: -0.306820 m/s,
      LOS rate: -1.134100 deg/s,
      cmd update: -4.536398 deg/s,
      cmd heading: 131.942253 deg,
      new cmd heading: 126.976161 deg.

2021-08-15T00:28:46.494Z,1628987326.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:28:46.857Z,1628987326.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:28:46.857Z,1628987326.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:28:46.857Z,1628987326.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:28:46.858Z,1628987326.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:28:47.269Z,1628987327.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
342,000,018DE,188,80,80,9E,FF
2021-08-15T00:28:47.269Z,1628987327.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:28:47.270Z,1628987327.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:28:47.271Z,1628987327.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:28:47.673Z,1628987327.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:28:48.493Z,1628987328.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,018B3,189,80,80,A0,FF
2021-08-15T00:28:48.494Z,1628987328.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:28:48.496Z,1628987328.496 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002848.49*55

2021-08-15T00:28:48.974Z,1628987328.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 341.880005 m, bearing: 225.857321 deg, deltaT: 4.811366 s, approachRate: -0.536234 m/s, LOS rate: -1.075164 deg/s, posRepo size: 4
2021-08-15T00:28:48.976Z,1628987328.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 341.880005 m,
      bearing: 225.857321 deg,
      approachRate: -0.536234 m/s,
      LOS rate: -1.075164 deg/s,
      cmd update: -4.300656 deg/s,
      cmd heading: 109.969360 deg,
      new cmd heading: 107.885175 deg.

2021-08-15T00:28:51.038Z,1628987331.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:28:51.322Z,1628987331.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:28:51.322Z,1628987331.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:28:51.322Z,1628987331.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:28:51.323Z,1628987331.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:28:51.709Z,1628987331.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,018B3,189,80,80,A0,FF
2021-08-15T00:28:51.709Z,1628987331.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:28:51.709Z,1628987331.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:28:51.711Z,1628987331.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:28:52.134Z,1628987332.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:28:52.961Z,1628987332.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,01886,186,80,80,B0,FF
2021-08-15T00:28:52.961Z,1628987332.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:28:52.964Z,1628987332.964 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002852.93*59

2021-08-15T00:28:53.364Z,1628987333.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 339.179993 m, bearing: 227.339691 deg, deltaT: 4.566920 s, approachRate: -0.591211 m/s, LOS rate: 0.324588 deg/s, posRepo size: 4
2021-08-15T00:28:53.366Z,1628987333.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.179993 m,
      bearing: 227.339691 deg,
      approachRate: -0.591211 m/s,
      LOS rate: 0.324588 deg/s,
      cmd update: 1.298354 deg/s,
      cmd heading: 90.347207 deg,
      new cmd heading: 89.104382 deg.

2021-08-15T00:28:55.812Z,1628987335.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:28:56.166Z,1628987336.166 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:28:56.166Z,1628987336.166 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:28:56.166Z,1628987336.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:28:56.168Z,1628987336.168 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:28:56.557Z,1628987336.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,01886,186,80,80,B0,FF
2021-08-15T00:28:56.557Z,1628987336.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:28:56.557Z,1628987336.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:28:56.559Z,1628987336.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:28:56.990Z,1628987336.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:28:57.796Z,1628987337.796 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002857.78*59

2021-08-15T00:28:58.639Z,1628987338.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:00.195Z,1628987340.195 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,B0,FF
2021-08-15T00:29:00.195Z,1628987340.195 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,B0,FF
2021-08-15T00:29:00.196Z,1628987340.196 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:29:01.431Z,1628987341.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:01.809Z,1628987341.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:29:01.809Z,1628987341.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:29:01.809Z,1628987341.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:29:01.810Z,1628987341.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:29:02.218Z,1628987342.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,B0,FF
2021-08-15T00:29:02.218Z,1628987342.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:29:02.218Z,1628987342.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:29:02.221Z,1628987342.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:29:02.633Z,1628987342.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:29:03.029Z,1628987343.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC9,000,00458,189,80,80,49,FF
2021-08-15T00:29:03.030Z,1628987343.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:29:03.470Z,1628987343.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002903.44*56

2021-08-15T00:29:03.502Z,1628987343.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.219999 m, bearing: 233.222383 deg, deltaT: 10.045418 s, approachRate: -30.855858 m/s, LOS rate: 0.585609 deg/s, posRepo size: 4
2021-08-15T00:29:03.502Z,1628987343.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.22 m.
2021-08-15T00:29:03.503Z,1628987343.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.22 m.
2021-08-15T00:29:03.503Z,1628987343.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T00:29:03.505Z,1628987343.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.219999 m,
      bearing: 233.222383 deg,
      approachRate: -30.855858 m/s,
      LOS rate: 0.585609 deg/s,
      cmd update: 2.342438 deg/s,
      cmd heading: 103.383684 deg,
      new cmd heading: 103.884559 deg.

2021-08-15T00:29:03.903Z,1628987343.903 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T00:29:03.908Z,1628987343.908 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:29:03.909Z,1628987343.909 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T00:29:03.911Z,1628987343.911 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T00:29:03.911Z,1628987343.911 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T00:29:03.916Z,1628987343.916 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T00:29:04.312Z,1628987344.312 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T00:29:04.312Z,1628987344.312 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:29:04.313Z,1628987344.313 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T00:29:04.313Z,1628987344.313 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:29:05.929Z,1628987345.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:06.257Z,1628987346.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:29:06.257Z,1628987346.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:29:06.257Z,1628987346.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:29:06.258Z,1628987346.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:29:06.674Z,1628987346.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC9,000,00458,189,80,80,49,FF
2021-08-15T00:29:06.674Z,1628987346.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:29:06.674Z,1628987346.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:29:06.681Z,1628987346.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:29:07.068Z,1628987347.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:29:07.893Z,1628987347.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002907.90*5B

2021-08-15T00:29:08.756Z,1628987348.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:10.301Z,1628987350.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,49,FF
2021-08-15T00:29:10.302Z,1628987350.302 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,49,FF
2021-08-15T00:29:10.302Z,1628987350.302 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:29:11.523Z,1628987351.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:11.920Z,1628987351.920 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:29:11.920Z,1628987351.920 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:29:11.921Z,1628987351.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:29:11.922Z,1628987351.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:29:12.318Z,1628987352.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,49,FF
2021-08-15T00:29:12.318Z,1628987352.318 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:29:12.318Z,1628987352.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:29:12.320Z,1628987352.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:29:12.761Z,1628987352.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:29:13.549Z,1628987353.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C0B,000,017DA,189,80,80,92,FF
2021-08-15T00:29:13.549Z,1628987353.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:29:13.553Z,1628987353.553 [Micromodem](INFO): Nmea in: $SNTTA,,0.125147,,,002913.54*4C

2021-08-15T00:29:13.571Z,1628987353.571 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:29:14.020Z,1628987354.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 328.859985 m, bearing: 217.259821 deg, deltaT: 10.472014 s, approachRate: 28.613405 m/s, LOS rate: -1.524307 deg/s, posRepo size: 4
2021-08-15T00:29:14.023Z,1628987354.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 328.859985 m,
      bearing: 217.259821 deg,
      approachRate: 28.613405 m/s,
      LOS rate: -1.524307 deg/s,
      cmd update: -6.097227 deg/s,
      cmd heading: 127.867801 deg,
      new cmd heading: 128.923521 deg.

2021-08-15T00:29:14.380Z,1628987354.380 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T00:29:14.381Z,1628987354.381 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:29:14.381Z,1628987354.381 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T00:29:14.381Z,1628987354.381 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T00:29:14.381Z,1628987354.381 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T00:29:14.381Z,1628987354.381 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T00:29:14.823Z,1628987354.823 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T00:29:14.823Z,1628987354.823 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:29:14.823Z,1628987354.823 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T00:29:14.823Z,1628987354.823 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:29:16.372Z,1628987356.372 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:16.773Z,1628987356.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:29:16.773Z,1628987356.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:29:16.773Z,1628987356.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:29:16.774Z,1628987356.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:29:17.169Z,1628987357.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C0B,000,017DA,189,80,80,92,FF
2021-08-15T00:29:17.169Z,1628987357.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:29:17.169Z,1628987357.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:29:17.171Z,1628987357.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:29:17.584Z,1628987357.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:29:18.401Z,1628987358.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD5,000,017CE,188,80,80,9C,FF
2021-08-15T00:29:18.401Z,1628987358.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:29:18.429Z,1628987358.429 [Micromodem](INFO): Nmea in: $SNTTA,0.220812,,,,002918.39*43

2021-08-15T00:29:18.852Z,1628987358.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 328.139984 m, bearing: 176.996375 deg, deltaT: 4.848808 s, approachRate: -0.148490 m/s, LOS rate: -8.303782 deg/s, posRepo size: 4
2021-08-15T00:29:18.854Z,1628987358.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 328.139984 m,
      bearing: 176.996375 deg,
      approachRate: -0.148490 m/s,
      LOS rate: -8.303782 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 98.129338 deg,
      new cmd heading: 95.675936 deg.

2021-08-15T00:29:21.255Z,1628987361.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:21.609Z,1628987361.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:29:21.609Z,1628987361.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:29:21.609Z,1628987361.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:29:21.610Z,1628987361.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:29:22.009Z,1628987362.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD5,000,017CE,188,80,80,9C,FF
2021-08-15T00:29:22.009Z,1628987362.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:29:22.009Z,1628987362.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:29:22.011Z,1628987362.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:29:22.417Z,1628987362.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:29:23.242Z,1628987363.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,017D4,185,80,80,48,FF
2021-08-15T00:29:23.242Z,1628987363.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:29:23.246Z,1628987363.246 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002923.23*55

2021-08-15T00:29:23.667Z,1628987363.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 328.500000 m, bearing: 135.201395 deg, deltaT: 4.868994 s, approachRate: 0.073941 m/s, LOS rate: -8.583904 deg/s, posRepo size: 4
2021-08-15T00:29:23.674Z,1628987363.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 328.500000 m,
      bearing: 135.201395 deg,
      approachRate: 0.073941 m/s,
      LOS rate: -8.583904 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 39.749793 deg,
      new cmd heading: 35.467341 deg.

2021-08-15T00:29:26.089Z,1628987366.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:26.453Z,1628987366.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:29:26.453Z,1628987366.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:29:26.453Z,1628987366.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:29:26.454Z,1628987366.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:29:26.865Z,1628987366.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,017D4,185,80,80,48,FF
2021-08-15T00:29:26.865Z,1628987366.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:29:26.865Z,1628987366.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:29:26.867Z,1628987366.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:29:27.278Z,1628987367.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:29:28.100Z,1628987368.100 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D41,000,017E6,189,80,80,87,FF
2021-08-15T00:29:28.101Z,1628987368.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:29:28.104Z,1628987368.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002928.09*56

2021-08-15T00:29:28.527Z,1628987368.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 329.579987 m, bearing: 151.472012 deg, deltaT: 4.815349 s, approachRate: 0.224280 m/s, LOS rate: 3.378907 deg/s, posRepo size: 4
2021-08-15T00:29:28.529Z,1628987368.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 329.579987 m,
      bearing: 151.472012 deg,
      approachRate: 0.224280 m/s,
      LOS rate: 3.378907 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 341.917508 deg,
      new cmd heading: 337.385600 deg.

2021-08-15T00:29:30.985Z,1628987370.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:31.301Z,1628987371.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:29:31.301Z,1628987371.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:29:31.301Z,1628987371.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:29:31.302Z,1628987371.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:29:31.714Z,1628987371.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D41,000,017E6,189,80,80,87,FF
2021-08-15T00:29:31.714Z,1628987371.714 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:29:31.714Z,1628987371.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:29:31.716Z,1628987371.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:29:32.121Z,1628987372.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:29:32.953Z,1628987372.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,208,000,01805,187,80,80,42,FF
2021-08-15T00:29:32.953Z,1628987372.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:29:32.956Z,1628987372.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002932.94*59

2021-08-15T00:29:33.354Z,1628987373.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 331.439972 m, bearing: 74.897402 deg, deltaT: 4.917557 s, approachRate: 0.378234 m/s, LOS rate: -15.571677 deg/s, posRepo size: 4
2021-08-15T00:29:33.355Z,1628987373.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.571677 deg/s. Setting heading cmd to target bearing of 74.897402deg and heading rate command to 0 deg/s.
2021-08-15T00:29:35.784Z,1628987375.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:36.149Z,1628987376.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:29:36.149Z,1628987376.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:29:36.149Z,1628987376.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:29:36.150Z,1628987376.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:29:36.561Z,1628987376.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
208,000,01805,187,80,80,42,FF
2021-08-15T00:29:36.561Z,1628987376.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:29:36.561Z,1628987376.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:29:36.563Z,1628987376.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:29:36.965Z,1628987376.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:29:37.801Z,1628987377.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,178,000,0182F,185,80,80,6E,FF
2021-08-15T00:29:37.801Z,1628987377.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:29:37.804Z,1628987377.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002937.78*5E

2021-08-15T00:29:38.230Z,1628987378.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 333.959991 m, bearing: 65.234167 deg, deltaT: 4.772729 s, approachRate: 0.528004 m/s, LOS rate: -2.024677 deg/s, posRepo size: 4
2021-08-15T00:29:38.233Z,1628987378.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 333.959991 m,
      bearing: 65.234167 deg,
      approachRate: 0.528004 m/s,
      LOS rate: -2.024677 deg/s,
      cmd update: -8.098709 deg/s,
      cmd heading: 74.897402 deg,
      new cmd heading: 74.897402 deg.

2021-08-15T00:29:40.623Z,1628987380.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:41.013Z,1628987381.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:29:41.013Z,1628987381.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:29:41.013Z,1628987381.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:29:41.014Z,1628987381.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:29:41.411Z,1628987381.411 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
178,000,0182F,185,80,80,6E,FF
2021-08-15T00:29:41.411Z,1628987381.411 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:29:41.411Z,1628987381.411 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:29:41.413Z,1628987381.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:29:41.813Z,1628987381.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:29:42.638Z,1628987382.638 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002942.63*56

2021-08-15T00:29:43.451Z,1628987383.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:44.250Z,1628987384.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,06BCF,186,80,80,40,FF
2021-08-15T00:29:44.251Z,1628987384.251 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:29:44.732Z,1628987384.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1618.440063 m, bearing: 48.800359 deg, deltaT: 6.459111 s, approachRate: 198.863297 m/s, LOS rate: -2.544283 deg/s, posRepo size: 4
2021-08-15T00:29:44.733Z,1628987384.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 1618.44 m. Rolling out.
2021-08-15T00:29:44.733Z,1628987384.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T00:29:47.139Z,1628987387.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:47.473Z,1628987387.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:29:47.473Z,1628987387.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:29:47.473Z,1628987387.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:29:47.474Z,1628987387.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:29:47.875Z,1628987387.875 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,06BCF,186,80,80,40,FF
2021-08-15T00:29:47.875Z,1628987387.875 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:29:47.876Z,1628987387.876 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:29:47.899Z,1628987387.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:29:48.301Z,1628987388.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:29:49.091Z,1628987389.091 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002949.12*5B

2021-08-15T00:29:49.955Z,1628987389.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:51.577Z,1628987391.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,40,FF
2021-08-15T00:29:51.578Z,1628987391.578 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,40,FF
2021-08-15T00:29:51.578Z,1628987391.578 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:29:52.832Z,1628987392.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:53.129Z,1628987393.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:29:53.129Z,1628987393.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:29:53.129Z,1628987393.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:29:53.130Z,1628987393.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:29:53.533Z,1628987393.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,40,FF
2021-08-15T00:29:53.533Z,1628987393.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:29:53.533Z,1628987393.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:29:53.535Z,1628987393.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:29:53.975Z,1628987393.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:29:54.782Z,1628987394.782 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002954.75*56

2021-08-15T00:29:55.611Z,1628987395.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:57.169Z,1628987397.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,40,FF
2021-08-15T00:29:57.169Z,1628987397.169 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,40,FF
2021-08-15T00:29:57.169Z,1628987397.169 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:29:58.396Z,1628987398.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:29:58.785Z,1628987398.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:29:58.785Z,1628987398.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:29:58.785Z,1628987398.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:29:58.786Z,1628987398.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:29:59.189Z,1628987399.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,40,FF
2021-08-15T00:29:59.190Z,1628987399.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:29:59.190Z,1628987399.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:29:59.191Z,1628987399.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:29:59.613Z,1628987399.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:30:00.418Z,1628987400.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003000.41*58

2021-08-15T00:30:01.263Z,1628987401.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:30:02.817Z,1628987402.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,40,FF
2021-08-15T00:30:02.818Z,1628987402.818 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,40,FF
2021-08-15T00:30:02.818Z,1628987402.818 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:30:04.078Z,1628987404.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:30:04.437Z,1628987404.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:30:04.437Z,1628987404.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:30:04.437Z,1628987404.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:30:04.438Z,1628987404.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:30:04.859Z,1628987404.859 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,40,FF
2021-08-15T00:30:04.859Z,1628987404.859 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:30:04.859Z,1628987404.859 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:30:04.865Z,1628987404.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:30:05.254Z,1628987405.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:30:06.081Z,1628987406.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31E,000,01927,189,80,80,94,FF
2021-08-15T00:30:06.082Z,1628987406.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:30:06.085Z,1628987406.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003006.09*52

2021-08-15T00:30:06.500Z,1628987406.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 348.840027 m, bearing: 339.521136 deg, deltaT: 21.852127 s, approachRate: -58.099613 m/s, LOS rate: -3.170365 deg/s, posRepo size: 4
2021-08-15T00:30:08.979Z,1628987408.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:30:09.293Z,1628987409.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:30:09.293Z,1628987409.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:30:09.294Z,1628987409.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:30:09.295Z,1628987409.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:30:09.689Z,1628987409.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31E,000,01927,189,80,80,94,FF
2021-08-15T00:30:09.689Z,1628987409.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:30:09.690Z,1628987409.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:30:09.691Z,1628987409.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:30:10.149Z,1628987410.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:30:10.954Z,1628987410.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003010.91*54

2021-08-15T00:30:10.964Z,1628987410.964 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T00:30:11.735Z,1628987411.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:30:12.969Z,1628987412.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,8000,01927,189,80,80,94,FF
2021-08-15T00:30:12.970Z,1628987412.970 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,8000,01927,189,80,80,94,FF
2021-08-15T00:30:12.970Z,1628987412.970 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:30:14.567Z,1628987414.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:30:14.969Z,1628987414.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:30:14.969Z,1628987414.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:30:14.969Z,1628987414.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:30:14.970Z,1628987414.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:30:15.365Z,1628987415.365 [DUSBL_Hydroid](INFO): DUSBL response received:,63,E4
!U1,P
,01927,189,80,80,94,FF
2021-08-15T00:30:15.365Z,1628987415.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:30:15.365Z,1628987415.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:30:15.367Z,1628987415.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:30:15.787Z,1628987415.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:30:16.589Z,1628987416.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26C,000,01983,187,80,80,91,FF
2021-08-15T00:30:16.589Z,1628987416.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:30:16.592Z,1628987416.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003016.59*56

2021-08-15T00:30:17.043Z,1628987417.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 354.359985 m, bearing: 348.109306 deg, deltaT: 10.476361 s, approachRate: 0.526897 m/s, LOS rate: 0.819767 deg/s, posRepo size: 4
2021-08-15T00:30:19.423Z,1628987419.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:30:19.822Z,1628987419.822 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:30:19.822Z,1628987419.822 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:30:19.823Z,1628987419.823 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:30:19.824Z,1628987419.824 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:30:20.218Z,1628987420.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26C,000,01983,187,80,80,91,FF
2021-08-15T00:30:20.218Z,1628987420.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:30:20.218Z,1628987420.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:30:20.221Z,1628987420.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:30:20.631Z,1628987420.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:30:21.017Z,1628987421.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24D,000,009FE,189,80,80,94,FF
2021-08-15T00:30:21.018Z,1628987421.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:30:21.464Z,1628987421.464 [Micromodem](INFO): Nmea in: $SNTTA,0.081764,,,,003021.44*4C

2021-08-15T00:30:21.489Z,1628987421.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.980003 m, bearing: 349.854529 deg, deltaT: 4.510531 s, approachRate: -52.849648 m/s, LOS rate: 0.386922 deg/s, posRepo size: 4
2021-08-15T00:30:23.923Z,1628987423.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:30:24.246Z,1628987424.246 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:30:24.246Z,1628987424.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:30:24.246Z,1628987424.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:30:24.247Z,1628987424.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:30:24.662Z,1628987424.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24D,000,009FE,189,80,80,94,FF
2021-08-15T00:30:24.662Z,1628987424.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:30:24.663Z,1628987424.663 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:30:24.678Z,1628987424.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:30:25.057Z,1628987425.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:30:25.868Z,1628987425.868 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21F,000,019D2,187,80,80,9A,FF
2021-08-15T00:30:25.869Z,1628987425.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:30:25.898Z,1628987425.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003025.90*53

2021-08-15T00:30:26.322Z,1628987426.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 359.100006 m, bearing: 352.663294 deg, deltaT: 4.856421 s, approachRate: 50.061558 m/s, LOS rate: 0.578361 deg/s, posRepo size: 4
2021-08-15T00:30:28.784Z,1628987428.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:30:29.105Z,1628987429.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:30:29.105Z,1628987429.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:30:29.105Z,1628987429.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:30:29.106Z,1628987429.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:30:29.507Z,1628987429.507 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21F,000,019D2,187,80,80,9A,FF
2021-08-15T00:30:29.507Z,1628987429.507 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:30:29.508Z,1628987429.508 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:30:29.510Z,1628987429.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:30:29.925Z,1628987429.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:30:30.757Z,1628987430.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20D,000,019FC,187,80,80,93,FF
2021-08-15T00:30:30.758Z,1628987430.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:30:30.760Z,1628987430.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003030.73*5A

2021-08-15T00:30:31.174Z,1628987431.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 361.619965 m, bearing: 353.423631 deg, deltaT: 4.869962 s, approachRate: 0.517449 m/s, LOS rate: 0.156128 deg/s, posRepo size: 4
2021-08-15T00:30:33.563Z,1628987433.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:30:33.961Z,1628987433.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:30:33.961Z,1628987433.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:30:33.961Z,1628987433.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:30:33.962Z,1628987433.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:30:33.978Z,1628987433.978 [PowerOnly](INFO): Powering down loadControl
2021-08-15T00:30:34.345Z,1628987434.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20D,000,019FC,187,80,80,93,FF
2021-08-15T00:30:34.345Z,1628987434.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:30:34.345Z,1628987434.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:30:34.347Z,1628987434.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:30:34.772Z,1628987434.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:30:35.605Z,1628987435.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20F,000,01A25,186,80,80,8E,FF
2021-08-15T00:30:35.605Z,1628987435.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:30:35.608Z,1628987435.608 [Micromodem](INFO): Nmea in: $SNTTA,,0.111905,,,003035.56*4B

2021-08-15T00:30:35.610Z,1628987435.610 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,003039330*7D
 expected 56
2021-08-15T00:30:36.022Z,1628987436.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 364.080017 m, bearing: 353.534799 deg, deltaT: 4.778909 s, approachRate: 0.514773 m/s, LOS rate: 0.023262 deg/s, posRepo size: 4
2021-08-15T00:30:38.411Z,1628987438.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:30:38.789Z,1628987438.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:30:38.789Z,1628987438.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:30:38.789Z,1628987438.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:30:38.790Z,1628987438.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:30:39.197Z,1628987439.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20F,000,01A25,186,80,80,8E,FF
2021-08-15T00:30:39.197Z,1628987439.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:30:39.198Z,1628987439.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:30:39.199Z,1628987439.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:30:39.605Z,1628987439.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:30:40.433Z,1628987440.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F9,000,01A54,186,80,80,6B,FF
2021-08-15T00:30:40.433Z,1628987440.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:30:40.436Z,1628987440.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003040.42*5F

2021-08-15T00:30:41.140Z,1628987441.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 366.899994 m, bearing: 355.113583 deg, deltaT: 4.831814 s, approachRate: 0.583627 m/s, LOS rate: 0.326748 deg/s, posRepo size: 4
2021-08-15T00:30:43.014Z,1628987443.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:30:43.333Z,1628987443.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:30:43.333Z,1628987443.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:30:43.334Z,1628987443.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:30:43.335Z,1628987443.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:30:43.737Z,1628987443.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F9,000,01A54,186,80,80,6B,FF
2021-08-15T00:30:43.737Z,1628987443.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:30:43.737Z,1628987443.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:30:43.739Z,1628987443.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:30:44.150Z,1628987444.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:30:44.975Z,1628987444.975 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CB,000,0170B,186,80,80,62,FF
2021-08-15T00:30:44.975Z,1628987444.975 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:30:44.990Z,1628987444.990 [Micromodem](INFO): Nmea in: $SNTTA,0.212814,0.415422,,,003044.96*5A

2021-08-15T00:30:45.051Z,1628987445.051 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:30:45.389Z,1628987445.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 316.440002 m, bearing: 357.835141 deg, deltaT: 4.616565 s, approachRate: -10.930202 m/s, LOS rate: 0.589520 deg/s, posRepo size: 4
2021-08-15T00:30:47.806Z,1628987447.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:30:48.220Z,1628987448.220 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:30:48.221Z,1628987448.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:30:48.222Z,1628987448.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:30:48.236Z,1628987448.236 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:30:48.591Z,1628987448.591 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CB,000,0170B,186,80,80,62,FF
2021-08-15T00:30:48.591Z,1628987448.591 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:30:48.591Z,1628987448.591 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:30:48.593Z,1628987448.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:30:48.999Z,1628987448.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:30:49.826Z,1628987449.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C9,000,01AAD,186,80,80,29,FF
2021-08-15T00:30:49.827Z,1628987449.827 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:30:49.831Z,1628987449.831 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003049.81*59

2021-08-15T00:30:50.281Z,1628987450.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 372.240021 m, bearing: 357.552261 deg, deltaT: 4.856923 s, approachRate: 11.488759 m/s, LOS rate: -0.058242 deg/s, posRepo size: 4
2021-08-15T00:30:52.687Z,1628987452.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:30:53.026Z,1628987453.026 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:30:53.026Z,1628987453.026 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:30:53.026Z,1628987453.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:30:53.027Z,1628987453.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:30:53.429Z,1628987453.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C9,000,01AAD,186,80,80,29,FF
2021-08-15T00:30:53.429Z,1628987453.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:30:53.430Z,1628987453.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:30:53.431Z,1628987453.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:30:53.852Z,1628987453.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:30:54.709Z,1628987454.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21F,000,01ADA,188,80,80,52,FF
2021-08-15T00:30:54.711Z,1628987454.711 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:30:54.727Z,1628987454.727 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003054.65*5F

2021-08-15T00:30:55.154Z,1628987455.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 374.940002 m, bearing: 353.135178 deg, deltaT: 4.907954 s, approachRate: 0.550124 m/s, LOS rate: -0.899985 deg/s, posRepo size: 4
2021-08-15T00:30:57.535Z,1628987457.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:30:57.962Z,1628987457.962 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:30:57.962Z,1628987457.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:30:57.962Z,1628987457.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:30:57.963Z,1628987457.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:30:58.317Z,1628987458.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21F,000,01ADA,188,80,80,52,FF
2021-08-15T00:30:58.317Z,1628987458.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:30:58.317Z,1628987458.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:30:58.319Z,1628987458.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:30:58.782Z,1628987458.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:30:59.564Z,1628987459.564 [Micromodem](INFO): Nmea in: $SNTTA,,0.084783,,,003059.54*4E

2021-08-15T00:31:00.367Z,1628987460.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:01.963Z,1628987461.963 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,188,80,80,52,FF
2021-08-15T00:31:01.963Z,1628987461.963 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,188,80,80,52,FF
2021-08-15T00:31:01.963Z,1628987461.963 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:31:02.873Z,1628987462.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:03.175Z,1628987463.175 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:31:03.175Z,1628987463.175 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:31:03.175Z,1628987463.175 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:31:03.176Z,1628987463.176 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:31:03.574Z,1628987463.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,188,80,80,52,FF
2021-08-15T00:31:03.574Z,1628987463.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:31:03.574Z,1628987463.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:31:03.578Z,1628987463.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:31:03.988Z,1628987463.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:31:04.823Z,1628987464.823 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003104.80*50

2021-08-15T00:31:05.593Z,1628987465.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C7,000,04361,186,80,80,54,FF
2021-08-15T00:31:05.594Z,1628987465.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:31:06.053Z,1628987466.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 997.440063 m, bearing: 357.621465 deg, deltaT: 10.814981 s, approachRate: 57.559052 m/s, LOS rate: 0.414822 deg/s, posRepo size: 4
2021-08-15T00:31:08.437Z,1628987468.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:08.821Z,1628987468.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:31:08.821Z,1628987468.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:31:08.821Z,1628987468.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:31:08.822Z,1628987468.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:31:09.234Z,1628987469.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C7,000,04361,186,80,80,54,FF
2021-08-15T00:31:09.234Z,1628987469.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:31:09.234Z,1628987469.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:31:09.240Z,1628987469.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:31:09.633Z,1628987469.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:31:10.486Z,1628987470.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003110.46*5F

2021-08-15T00:31:10.951Z,1628987470.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:12.873Z,1628987472.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,54,FF
2021-08-15T00:31:12.873Z,1628987472.873 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,54,FF
2021-08-15T00:31:12.873Z,1628987472.873 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:31:13.695Z,1628987473.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:14.073Z,1628987474.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:31:14.073Z,1628987474.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:31:14.073Z,1628987474.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:31:14.074Z,1628987474.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:31:14.485Z,1628987474.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,54,FF
2021-08-15T00:31:14.485Z,1628987474.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:31:14.486Z,1628987474.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:31:14.487Z,1628987474.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:31:14.897Z,1628987474.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:31:16.546Z,1628987476.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:18.125Z,1628987478.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,54,FF
2021-08-15T00:31:18.125Z,1628987478.125 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,54,FF
2021-08-15T00:31:18.125Z,1628987478.125 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:31:19.364Z,1628987479.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:19.745Z,1628987479.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:31:19.745Z,1628987479.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:31:19.745Z,1628987479.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:31:19.746Z,1628987479.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:31:20.138Z,1628987480.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,54,FF
2021-08-15T00:31:20.138Z,1628987480.138 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:31:20.138Z,1628987480.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:31:20.140Z,1628987480.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:31:20.545Z,1628987480.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:31:20.976Z,1628987480.976 [Micromodem](INFO): Nmea in: $SNTTA,0.213646,0.212646,,,003121.36*5B

2021-08-15T00:31:22.238Z,1628987482.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:23.769Z,1628987483.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,54,FF
2021-08-15T00:31:23.769Z,1628987483.769 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,54,FF
2021-08-15T00:31:23.770Z,1628987483.770 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:31:25.110Z,1628987485.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:25.389Z,1628987485.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:31:25.389Z,1628987485.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:31:25.389Z,1628987485.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:31:25.390Z,1628987485.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:31:25.789Z,1628987485.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,54,FF
2021-08-15T00:31:25.789Z,1628987485.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:31:25.790Z,1628987485.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:31:25.791Z,1628987485.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:31:26.209Z,1628987486.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:31:27.003Z,1628987487.003 [Micromodem](INFO): Nmea in: $SNTTA,0.347202,0.347796,,,003127.01*50

2021-08-15T00:31:27.870Z,1628987487.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:29.429Z,1628987489.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,54,FF
2021-08-15T00:31:29.429Z,1628987489.429 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,54,FF
2021-08-15T00:31:29.430Z,1628987489.430 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:31:30.738Z,1628987490.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:31.049Z,1628987491.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:31:31.049Z,1628987491.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:31:31.049Z,1628987491.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:31:31.050Z,1628987491.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:31:31.454Z,1628987491.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,54,FF
2021-08-15T00:31:31.454Z,1628987491.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:31:31.454Z,1628987491.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:31:31.456Z,1628987491.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:31:31.856Z,1628987491.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:31:32.695Z,1628987492.695 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003132.68*53

2021-08-15T00:31:33.503Z,1628987493.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:35.097Z,1628987495.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,54,FF
2021-08-15T00:31:35.098Z,1628987495.098 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,54,FF
2021-08-15T00:31:35.098Z,1628987495.098 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:31:36.334Z,1628987496.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:36.741Z,1628987496.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:31:36.741Z,1628987496.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:31:36.741Z,1628987496.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:31:36.742Z,1628987496.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:31:37.105Z,1628987497.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,54,FF
2021-08-15T00:31:37.105Z,1628987497.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:31:37.105Z,1628987497.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:31:37.107Z,1628987497.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:31:37.524Z,1628987497.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:31:38.342Z,1628987498.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003138.33*57

2021-08-15T00:31:39.125Z,1628987499.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DE,000,043DC,188,80,80,63,FF
2021-08-15T00:31:39.126Z,1628987499.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:31:39.575Z,1628987499.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1004.820068 m, bearing: 331.353131 deg, deltaT: 33.539217 s, approachRate: 0.220041 m/s, LOS rate: -0.783213 deg/s, posRepo size: 4
2021-08-15T00:31:41.994Z,1628987501.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:42.353Z,1628987502.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:31:42.354Z,1628987502.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:31:42.354Z,1628987502.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:31:42.355Z,1628987502.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:31:42.769Z,1628987502.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DE,000,043DC,188,80,80,63,FF
2021-08-15T00:31:42.769Z,1628987502.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:31:42.769Z,1628987502.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:31:42.771Z,1628987502.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:31:43.176Z,1628987503.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:31:44.009Z,1628987504.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,01CAC,187,80,80,68,FF
2021-08-15T00:31:44.009Z,1628987504.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:31:44.028Z,1628987504.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003143.99*5B

2021-08-15T00:31:44.431Z,1628987504.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 402.899994 m, bearing: 28.210488 deg, deltaT: 4.891923 s, approachRate: -123.043648 m/s, LOS rate: 11.622700 deg/s, posRepo size: 4
2021-08-15T00:31:46.853Z,1628987506.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:47.213Z,1628987507.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:31:47.214Z,1628987507.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:31:47.214Z,1628987507.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:31:47.215Z,1628987507.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:31:47.617Z,1628987507.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,01CAC,187,80,80,68,FF
2021-08-15T00:31:47.617Z,1628987507.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:31:47.618Z,1628987507.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:31:47.619Z,1628987507.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:31:48.021Z,1628987508.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:31:48.850Z,1628987508.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003148.84*5C

2021-08-15T00:31:49.674Z,1628987509.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:51.253Z,1628987511.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,68,FF
2021-08-15T00:31:51.253Z,1628987511.253 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,68,FF
2021-08-15T00:31:51.253Z,1628987511.253 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:31:52.494Z,1628987512.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:52.869Z,1628987512.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:31:52.870Z,1628987512.870 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:31:52.870Z,1628987512.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:31:52.871Z,1628987512.871 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:31:53.277Z,1628987513.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,68,FF
2021-08-15T00:31:53.277Z,1628987513.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:31:53.277Z,1628987513.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:31:53.279Z,1628987513.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:31:53.676Z,1628987513.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:31:54.506Z,1628987514.506 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003154.50*58

2021-08-15T00:31:55.003Z,1628987515.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:55.293Z,1628987515.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,043B4,186,80,80,52,FF
2021-08-15T00:31:55.294Z,1628987515.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:31:55.726Z,1628987515.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1002.419983 m, bearing: 28.995441 deg, deltaT: 11.271465 s, approachRate: 53.189182 m/s, LOS rate: 0.069641 deg/s, posRepo size: 4
2021-08-15T00:31:58.158Z,1628987518.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:31:58.521Z,1628987518.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:31:58.521Z,1628987518.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:31:58.521Z,1628987518.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:31:58.522Z,1628987518.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:31:58.953Z,1628987518.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,043B4,186,80,80,52,FF
2021-08-15T00:31:58.953Z,1628987518.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:31:58.954Z,1628987518.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:31:58.955Z,1628987518.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:31:59.055Z,1628987519.055 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T00:31:59.363Z,1628987519.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:32:00.143Z,1628987520.143 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,01D4F,186,80,80,67,FF
2021-08-15T00:32:00.144Z,1628987520.144 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:32:00.151Z,1628987520.151 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003200.17*59

2021-08-15T00:32:00.575Z,1628987520.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 412.679993 m, bearing: 28.685671 deg, deltaT: 4.876083 s, approachRate: -120.945435 m/s, LOS rate: -0.063528 deg/s, posRepo size: 4
2021-08-15T00:32:03.051Z,1628987523.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:03.389Z,1628987523.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:32:03.389Z,1628987523.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:32:03.389Z,1628987523.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:32:03.390Z,1628987523.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:32:03.781Z,1628987523.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,01D4F,186,80,80,67,FF
2021-08-15T00:32:03.781Z,1628987523.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:32:03.782Z,1628987523.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:32:03.783Z,1628987523.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:32:04.184Z,1628987524.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:32:05.013Z,1628987525.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,01D7E,186,80,80,6E,FF
2021-08-15T00:32:05.014Z,1628987525.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:32:05.017Z,1628987525.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003205.00*5A

2021-08-15T00:32:05.443Z,1628987525.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 415.499969 m, bearing: 27.896009 deg, deltaT: 4.888476 s, approachRate: 0.576862 m/s, LOS rate: -0.161535 deg/s, posRepo size: 4
2021-08-15T00:32:07.839Z,1628987527.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:08.217Z,1628987528.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:32:08.218Z,1628987528.218 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:32:08.218Z,1628987528.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:32:08.219Z,1628987528.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:32:08.641Z,1628987528.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,01D7E,186,80,80,6E,FF
2021-08-15T00:32:08.641Z,1628987528.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:32:08.642Z,1628987528.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:32:08.669Z,1628987528.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:32:09.037Z,1628987529.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:32:09.847Z,1628987529.847 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003209.89*57

2021-08-15T00:32:10.747Z,1628987530.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:12.265Z,1628987532.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,6E,FF
2021-08-15T00:32:12.266Z,1628987532.266 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,6E,FF
2021-08-15T00:32:12.266Z,1628987532.266 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:32:13.501Z,1628987533.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:13.875Z,1628987533.875 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:32:13.876Z,1628987533.876 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:32:13.877Z,1628987533.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:32:13.878Z,1628987533.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:32:14.290Z,1628987534.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,6E,FF
2021-08-15T00:32:14.290Z,1628987534.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:32:14.290Z,1628987534.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:32:14.293Z,1628987534.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:32:14.723Z,1628987534.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:32:15.510Z,1628987535.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003215.51*5F

2021-08-15T00:32:16.335Z,1628987536.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:17.937Z,1628987537.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,6E,FF
2021-08-15T00:32:17.937Z,1628987537.937 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,6E,FF
2021-08-15T00:32:17.937Z,1628987537.937 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:32:19.186Z,1628987539.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:19.529Z,1628987539.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:32:19.529Z,1628987539.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:32:19.529Z,1628987539.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:32:19.530Z,1628987539.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:32:19.980Z,1628987539.980 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,6E,FF
2021-08-15T00:32:19.981Z,1628987539.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:32:19.981Z,1628987539.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:32:19.982Z,1628987539.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:32:20.354Z,1628987540.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:32:21.163Z,1628987541.163 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,01E21,186,80,80,6E,FF
2021-08-15T00:32:21.165Z,1628987541.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:32:21.172Z,1628987541.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003221.20*5E

2021-08-15T00:32:21.611Z,1628987541.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 425.279968 m, bearing: 32.068466 deg, deltaT: 16.144999 s, approachRate: 0.605760 m/s, LOS rate: 0.258436 deg/s, posRepo size: 4
2021-08-15T00:32:24.048Z,1628987544.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:24.389Z,1628987544.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:32:24.389Z,1628987544.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:32:24.389Z,1628987544.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:32:24.390Z,1628987544.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:32:24.781Z,1628987544.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,01E21,186,80,80,6E,FF
2021-08-15T00:32:24.782Z,1628987544.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:32:24.782Z,1628987544.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:32:24.783Z,1628987544.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:32:25.193Z,1628987545.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:32:26.022Z,1628987546.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003226.00*5B

2021-08-15T00:32:26.839Z,1628987546.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:28.422Z,1628987548.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,6E,FF
2021-08-15T00:32:28.422Z,1628987548.422 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,6E,FF
2021-08-15T00:32:28.422Z,1628987548.422 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:32:29.650Z,1628987549.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:30.037Z,1628987550.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:32:30.038Z,1628987550.038 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:32:30.038Z,1628987550.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:32:30.039Z,1628987550.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:32:30.437Z,1628987550.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,6E,FF
2021-08-15T00:32:30.437Z,1628987550.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:32:30.437Z,1628987550.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:32:30.439Z,1628987550.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:32:30.852Z,1628987550.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:32:31.682Z,1628987551.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003231.66*5D

2021-08-15T00:32:32.487Z,1628987552.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:34.082Z,1628987554.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,6E,FF
2021-08-15T00:32:34.082Z,1628987554.082 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,6E,FF
2021-08-15T00:32:34.082Z,1628987554.082 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:32:35.311Z,1628987555.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:35.717Z,1628987555.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:32:35.717Z,1628987555.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:32:35.717Z,1628987555.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:32:35.718Z,1628987555.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:32:36.098Z,1628987556.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,6E,FF
2021-08-15T00:32:36.098Z,1628987556.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:32:36.098Z,1628987556.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:32:36.100Z,1628987556.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:32:36.501Z,1628987556.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:32:37.334Z,1628987557.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003237.32*5A

2021-08-15T00:32:38.157Z,1628987558.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:39.733Z,1628987559.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,6E,FF
2021-08-15T00:32:39.734Z,1628987559.734 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,6E,FF
2021-08-15T00:32:39.734Z,1628987559.734 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:32:40.966Z,1628987560.966 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T00:32:41.013Z,1628987561.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:41.350Z,1628987561.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:32:41.350Z,1628987561.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:32:41.350Z,1628987561.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:32:41.351Z,1628987561.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:32:41.749Z,1628987561.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,6E,FF
2021-08-15T00:32:41.749Z,1628987561.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:32:41.749Z,1628987561.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:32:41.751Z,1628987561.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:32:42.165Z,1628987562.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:32:42.989Z,1628987562.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,01EFD,187,80,80,34,FF
2021-08-15T00:32:42.990Z,1628987562.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:32:42.992Z,1628987562.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003242.97*57

2021-08-15T00:32:43.401Z,1628987563.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 438.479980 m, bearing: 41.530105 deg, deltaT: 21.836847 s, approachRate: 0.604483 m/s, LOS rate: 0.433288 deg/s, posRepo size: 4
2021-08-15T00:32:45.818Z,1628987565.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:46.193Z,1628987566.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:32:46.193Z,1628987566.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:32:46.193Z,1628987566.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:32:46.194Z,1628987566.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:32:46.605Z,1628987566.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,01EFD,187,80,80,34,FF
2021-08-15T00:32:46.605Z,1628987566.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:32:46.605Z,1628987566.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:32:46.607Z,1628987566.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:32:47.009Z,1628987567.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:32:47.836Z,1628987567.836 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,01F2E,187,80,80,2A,FF
2021-08-15T00:32:47.837Z,1628987567.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:32:47.840Z,1628987567.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003247.83*57

2021-08-15T00:32:48.265Z,1628987568.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 441.419983 m, bearing: 29.064559 deg, deltaT: 4.762806 s, approachRate: 0.617284 m/s, LOS rate: -2.617269 deg/s, posRepo size: 4
2021-08-15T00:32:50.748Z,1628987570.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:51.049Z,1628987571.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:32:51.049Z,1628987571.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:32:51.049Z,1628987571.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:32:51.050Z,1628987571.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:32:51.065Z,1628987571.065 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:32:51.449Z,1628987571.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,01F2E,187,80,80,2A,FF
2021-08-15T00:32:51.449Z,1628987571.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:32:51.450Z,1628987571.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:32:51.451Z,1628987571.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:32:51.862Z,1628987571.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:32:52.717Z,1628987572.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,01F5F,186,80,80,47,FF
2021-08-15T00:32:52.718Z,1628987572.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:32:52.723Z,1628987572.723 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003252.67*59

2021-08-15T00:32:53.110Z,1628987573.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 444.360016 m, bearing: 29.907541 deg, deltaT: 4.928686 s, approachRate: 0.596515 m/s, LOS rate: 0.171036 deg/s, posRepo size: 4
2021-08-15T00:32:55.510Z,1628987575.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:55.909Z,1628987575.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:32:55.909Z,1628987575.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:32:55.910Z,1628987575.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:32:55.911Z,1628987575.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:32:56.301Z,1628987576.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,01F5F,186,80,80,47,FF
2021-08-15T00:32:56.301Z,1628987576.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:32:56.302Z,1628987576.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:32:56.303Z,1628987576.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:32:56.737Z,1628987576.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:32:57.106Z,1628987577.106 [Micromodem](INFO): Nmea in: 347,0.065976,,,003257.58*5F

2021-08-15T00:32:57.107Z,1628987577.107 [Micromodem](ERROR): Response from modem failed NMEA checksum: 347,0.065976,,,003257.58*5F
 expected 0
2021-08-15T00:32:58.350Z,1628987578.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:32:59.953Z,1628987579.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,47,FF
2021-08-15T00:32:59.953Z,1628987579.953 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,47,FF
2021-08-15T00:32:59.953Z,1628987579.953 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:33:00.804Z,1628987580.804 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T00:33:01.185Z,1628987581.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:33:01.545Z,1628987581.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:33:01.545Z,1628987581.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:33:01.545Z,1628987581.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:33:01.546Z,1628987581.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:33:01.961Z,1628987581.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,47,FF
2021-08-15T00:33:01.961Z,1628987581.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:33:01.962Z,1628987581.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:33:01.963Z,1628987581.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:33:02.357Z,1628987582.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:33:03.182Z,1628987583.182 [Micromodem](INFO): Nmea in: $SNTTA,,0.260810,,,003303.19*46

2021-08-15T00:33:04.025Z,1628987584.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:33:05.590Z,1628987585.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,47,FF
2021-08-15T00:33:05.590Z,1628987585.590 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,47,FF
2021-08-15T00:33:05.590Z,1628987585.590 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:33:06.843Z,1628987586.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:33:07.213Z,1628987587.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:33:07.214Z,1628987587.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:33:07.214Z,1628987587.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:33:07.215Z,1628987587.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:33:07.605Z,1628987587.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,47,FF
2021-08-15T00:33:07.605Z,1628987587.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:33:07.605Z,1628987587.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:33:07.607Z,1628987587.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:33:08.012Z,1628987588.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:33:08.845Z,1628987588.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,01FFC,186,80,80,51,FF
2021-08-15T00:33:08.845Z,1628987588.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:33:08.848Z,1628987588.848 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003308.83*5D

2021-08-15T00:33:09.294Z,1628987589.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 453.779999 m, bearing: 31.328237 deg, deltaT: 16.203771 s, approachRate: 0.581345 m/s, LOS rate: 0.087677 deg/s, posRepo size: 4
2021-08-15T00:33:10.868Z,1628987590.868 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T00:33:11.670Z,1628987591.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:33:12.054Z,1628987592.054 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:33:12.054Z,1628987592.054 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:33:12.054Z,1628987592.054 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:33:12.055Z,1628987592.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:33:12.464Z,1628987592.464 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,01FFC,186,80,80,51,FF
2021-08-15T00:33:12.464Z,1628987592.464 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:33:12.465Z,1628987592.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:33:12.466Z,1628987592.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:33:12.868Z,1628987592.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:33:13.706Z,1628987593.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003313.69*53

2021-08-15T00:33:14.491Z,1628987594.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:33:16.097Z,1628987596.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,51,FF
2021-08-15T00:33:16.098Z,1628987596.098 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,51,FF
2021-08-15T00:33:16.098Z,1628987596.098 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:33:16.991Z,1628987596.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:33:17.301Z,1628987597.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:33:17.301Z,1628987597.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:33:17.301Z,1628987597.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:33:17.302Z,1628987597.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:33:17.709Z,1628987597.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,51,FF
2021-08-15T00:33:17.709Z,1628987597.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:33:17.709Z,1628987597.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:33:17.711Z,1628987597.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:33:18.120Z,1628987598.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:33:18.959Z,1628987598.959 [Micromodem](INFO): Nmea in: $SNTTA,0.388244,,,,003318.93*42

2021-08-15T00:33:19.750Z,1628987599.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:33:20.949Z,1628987600.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D98,000,07A65,189,80,80,42,FF
2021-08-15T00:33:20.950Z,1628987600.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:33:21.379Z,1628987601.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1842.479980 m, bearing: 51.364986 deg, deltaT: 12.074729 s, approachRate: 115.008789 m/s, LOS rate: 1.659395 deg/s, posRepo size: 4
2021-08-15T00:33:23.786Z,1628987603.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:33:24.177Z,1628987604.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:33:24.177Z,1628987604.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:33:24.178Z,1628987604.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:33:24.179Z,1628987604.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:33:24.573Z,1628987604.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D98,000,07A65,189,80,80,42,FF
2021-08-15T00:33:24.573Z,1628987604.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:33:24.574Z,1628987604.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:33:24.575Z,1628987604.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:33:24.984Z,1628987604.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:33:25.813Z,1628987605.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D50,000,020A8,18A,80,80,4E,FF
2021-08-15T00:33:25.814Z,1628987605.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:33:25.817Z,1628987605.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003325.80*51

2021-08-15T00:33:26.242Z,1628987606.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 464.099976 m, bearing: 54.864102 deg, deltaT: 4.801055 s, approachRate: -287.099396 m/s, LOS rate: 0.728822 deg/s, posRepo size: 4
2021-08-15T00:33:28.634Z,1628987608.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:33:29.021Z,1628987609.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:33:29.021Z,1628987609.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:33:29.021Z,1628987609.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:33:29.022Z,1628987609.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:33:29.425Z,1628987609.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D50,000,020A8,18A,80,80,4E,FF
2021-08-15T00:33:29.426Z,1628987609.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:33:29.426Z,1628987609.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:33:29.427Z,1628987609.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:33:29.841Z,1628987609.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:33:30.660Z,1628987610.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003330.65*5E

2021-08-15T00:33:30.796Z,1628987610.796 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T00:33:31.489Z,1628987611.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:33:33.065Z,1628987613.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,18A,80,80,4E,FF
2021-08-15T00:33:33.065Z,1628987613.065 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,18A,80,80,4E,FF
2021-08-15T00:33:33.065Z,1628987613.065 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:33:34.318Z,1628987614.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:33:34.711Z,1628987614.711 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:33:34.711Z,1628987614.711 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:33:34.712Z,1628987614.712 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:33:34.714Z,1628987614.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:33:35.077Z,1628987615.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,18A,80,80,4E,FF
2021-08-15T00:33:35.077Z,1628987615.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:33:35.077Z,1628987615.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:33:35.079Z,1628987615.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:33:35.504Z,1628987615.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:33:36.321Z,1628987616.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCA,000,01A5D,189,80,80,2D,FF
2021-08-15T00:33:36.322Z,1628987616.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:33:36.325Z,1628987616.325 [Micromodem](INFO): Nmea in: $SNTTA,0.315543,,,,003336.30*43

2021-08-15T00:33:36.795Z,1628987616.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 367.439972 m, bearing: 62.053245 deg, deltaT: 10.468106 s, approachRate: -9.233763 m/s, LOS rate: 0.686766 deg/s, posRepo size: 4
2021-08-15T00:33:39.157Z,1628987619.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:33:39.529Z,1628987619.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:33:39.529Z,1628987619.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:33:39.529Z,1628987619.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:33:39.530Z,1628987619.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:33:39.953Z,1628987619.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCA,000,01A5D,189,80,80,2D,FF
2021-08-15T00:33:39.953Z,1628987619.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:33:39.953Z,1628987619.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:33:39.955Z,1628987619.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:33:40.343Z,1628987620.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:33:40.805Z,1628987620.805 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T00:33:41.154Z,1628987621.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003341.18*52

2021-08-15T00:33:41.541Z,1628987621.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3B,000,02141,18A,80,80,2C,FF
2021-08-15T00:33:41.541Z,1628987621.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:33:42.019Z,1628987622.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 473.279968 m, bearing: 56.704196 deg, deltaT: 5.247299 s, approachRate: 20.170376 m/s, LOS rate: -1.019391 deg/s, posRepo size: 4
2021-08-15T00:33:44.417Z,1628987624.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:33:44.773Z,1628987624.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:33:44.773Z,1628987624.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:33:44.773Z,1628987624.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:33:44.774Z,1628987624.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:33:45.186Z,1628987625.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3B,000,02141,18A,80,80,2C,FF
2021-08-15T00:33:45.186Z,1628987625.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:33:45.186Z,1628987625.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:33:45.189Z,1628987625.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:33:45.590Z,1628987625.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:33:46.424Z,1628987626.424 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF8,000,02177,189,80,80,2C,FF
2021-08-15T00:33:46.424Z,1628987626.424 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:33:46.428Z,1628987626.428 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003346.41*59

2021-08-15T00:33:46.864Z,1628987626.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 476.519989 m, bearing: 60.240001 deg, deltaT: 4.859794 s, approachRate: 0.666699 m/s, LOS rate: 0.727563 deg/s, posRepo size: 4
2021-08-15T00:33:49.289Z,1628987629.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:33:49.621Z,1628987629.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:33:49.621Z,1628987629.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:33:49.621Z,1628987629.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:33:49.622Z,1628987629.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:33:50.025Z,1628987630.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF8,000,02177,189,80,80,2C,FF
2021-08-15T00:33:50.025Z,1628987630.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:33:50.025Z,1628987630.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:33:50.027Z,1628987630.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:33:50.433Z,1628987630.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:33:50.847Z,1628987630.847 [Micromodem](INFO): Nmea in: $SNTTA,0.229729,0.230035,,,003351.25*5F

2021-08-15T00:33:50.922Z,1628987630.922 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T00:33:51.246Z,1628987631.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0D,000,02177,189,80,80,2C,FF
2021-08-15T00:33:51.246Z,1628987631.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:33:51.707Z,1628987631.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 476.519989 m, bearing: 58.428321 deg, deltaT: 4.846538 s, approachRate: 0.000000 m/s, LOS rate: -0.373809 deg/s, posRepo size: 4
2021-08-15T00:33:54.126Z,1628987634.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:33:54.473Z,1628987634.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:33:54.473Z,1628987634.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:33:54.473Z,1628987634.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:33:54.474Z,1628987634.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:33:54.885Z,1628987634.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0D,000,02177,189,80,80,2C,FF
2021-08-15T00:33:54.885Z,1628987634.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:33:54.886Z,1628987634.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:33:54.900Z,1628987634.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:33:55.288Z,1628987635.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:33:56.085Z,1628987636.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003356.12*5E

2021-08-15T00:33:56.489Z,1628987636.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D69,000,021DD,189,80,80,2F,FF
2021-08-15T00:33:56.489Z,1628987636.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:33:56.967Z,1628987636.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 482.639984 m, bearing: 54.310949 deg, deltaT: 5.213602 s, approachRate: 1.173852 m/s, LOS rate: -0.789736 deg/s, posRepo size: 4
2021-08-15T00:33:59.064Z,1628987639.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:33:59.317Z,1628987639.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:33:59.317Z,1628987639.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:33:59.317Z,1628987639.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:33:59.318Z,1628987639.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:33:59.721Z,1628987639.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D69,000,021DD,189,80,80,2F,FF
2021-08-15T00:33:59.721Z,1628987639.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:33:59.721Z,1628987639.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:33:59.723Z,1628987639.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:34:00.128Z,1628987640.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:34:00.982Z,1628987640.982 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003400.95*55

2021-08-15T00:34:01.766Z,1628987641.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:03.354Z,1628987643.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:03.354Z,1628987643.354 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:03.354Z,1628987643.354 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:34:04.594Z,1628987644.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:04.969Z,1628987644.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:34:04.969Z,1628987644.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:34:04.969Z,1628987644.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:34:04.970Z,1628987644.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:34:05.382Z,1628987645.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:05.382Z,1628987645.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:34:05.382Z,1628987645.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:34:05.384Z,1628987645.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:34:05.832Z,1628987645.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:34:06.618Z,1628987646.618 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003406.61*58

2021-08-15T00:34:07.292Z,1628987647.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:08.716Z,1628987648.716 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:08.717Z,1628987648.717 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:08.717Z,1628987648.717 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:34:09.953Z,1628987649.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:10.297Z,1628987650.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:34:10.297Z,1628987650.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:34:10.298Z,1628987650.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:34:10.298Z,1628987650.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:34:10.753Z,1628987650.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:10.753Z,1628987650.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:34:10.754Z,1628987650.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:34:10.755Z,1628987650.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:34:10.906Z,1628987650.906 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T00:34:11.096Z,1628987651.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:34:11.930Z,1628987651.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003411.98*58

2021-08-15T00:34:12.842Z,1628987652.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:14.325Z,1628987654.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:14.325Z,1628987654.325 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:14.326Z,1628987654.326 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:34:15.559Z,1628987655.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:15.961Z,1628987655.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:34:15.961Z,1628987655.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:34:15.961Z,1628987655.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:34:15.962Z,1628987655.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:34:16.354Z,1628987656.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:16.354Z,1628987656.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:34:16.355Z,1628987656.355 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:34:16.356Z,1628987656.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:34:16.782Z,1628987656.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:34:17.578Z,1628987657.578 [Micromodem](INFO): Nmea in: $SNTTA,0.332838,,,,003417.58*4D

2021-08-15T00:34:18.387Z,1628987658.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:19.988Z,1628987659.988 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:19.988Z,1628987659.988 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:19.988Z,1628987659.988 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:34:21.227Z,1628987661.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:21.605Z,1628987661.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:34:21.605Z,1628987661.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:34:21.606Z,1628987661.606 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:34:21.606Z,1628987661.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:34:22.013Z,1628987662.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:22.013Z,1628987662.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:34:22.013Z,1628987662.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:34:22.015Z,1628987662.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:34:22.417Z,1628987662.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:34:23.220Z,1628987663.220 [Micromodem](INFO): Nmea in: $SNTTA,0.335171,0.275215,,,003423.24*5A

2021-08-15T00:34:24.050Z,1628987664.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:25.633Z,1628987665.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:25.634Z,1628987665.634 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:25.634Z,1628987665.634 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:34:26.972Z,1628987666.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:27.265Z,1628987667.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:34:27.265Z,1628987667.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:34:27.266Z,1628987667.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:34:27.267Z,1628987667.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:34:27.657Z,1628987667.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:27.657Z,1628987667.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:34:27.657Z,1628987667.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:34:27.659Z,1628987667.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:34:28.073Z,1628987668.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:34:28.915Z,1628987668.915 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003428.88*53

2021-08-15T00:34:29.706Z,1628987669.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:31.298Z,1628987671.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:31.298Z,1628987671.298 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:31.298Z,1628987671.298 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:34:32.531Z,1628987672.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:32.925Z,1628987672.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:34:32.925Z,1628987672.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:34:32.925Z,1628987672.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:34:32.926Z,1628987672.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:34:33.313Z,1628987673.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:33.313Z,1628987673.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:34:33.314Z,1628987673.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:34:33.315Z,1628987673.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:34:33.720Z,1628987673.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:34:34.550Z,1628987674.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003434.54*5F

2021-08-15T00:34:35.042Z,1628987675.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:36.969Z,1628987676.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:36.970Z,1628987676.970 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:36.970Z,1628987676.970 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:34:37.779Z,1628987677.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:38.161Z,1628987678.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:34:38.161Z,1628987678.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:34:38.161Z,1628987678.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:34:38.162Z,1628987678.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:34:38.569Z,1628987678.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:38.569Z,1628987678.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:34:38.569Z,1628987678.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:34:38.571Z,1628987678.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:34:38.966Z,1628987678.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:34:39.806Z,1628987679.806 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003439.79*5D

2021-08-15T00:34:40.618Z,1628987680.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:42.201Z,1628987682.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:42.201Z,1628987682.201 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:42.202Z,1628987682.202 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:34:43.439Z,1628987683.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:43.825Z,1628987683.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:34:43.825Z,1628987683.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:34:43.825Z,1628987683.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:34:43.826Z,1628987683.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:34:44.230Z,1628987684.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:44.230Z,1628987684.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:34:44.231Z,1628987684.231 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:34:44.233Z,1628987684.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:34:44.641Z,1628987684.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:34:45.500Z,1628987685.500 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003445.46*5A

2021-08-15T00:34:46.279Z,1628987686.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:47.868Z,1628987687.868 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:47.868Z,1628987687.868 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:47.868Z,1628987687.868 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:34:49.138Z,1628987689.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:49.478Z,1628987689.478 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:34:49.478Z,1628987689.478 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:34:49.478Z,1628987689.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:34:49.479Z,1628987689.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:34:49.877Z,1628987689.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:49.878Z,1628987689.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:34:49.878Z,1628987689.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:34:49.885Z,1628987689.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:34:50.297Z,1628987690.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:34:50.725Z,1628987690.725 [Micromodem](INFO): Nmea in: $SNTTA,0.263249,0.263249,,,003451.18*54

2021-08-15T00:34:51.973Z,1628987691.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:53.517Z,1628987693.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:53.518Z,1628987693.518 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:53.518Z,1628987693.518 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:34:54.802Z,1628987694.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:55.137Z,1628987695.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:34:55.137Z,1628987695.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:34:55.137Z,1628987695.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:34:55.138Z,1628987695.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:34:55.537Z,1628987695.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:55.537Z,1628987695.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:34:55.537Z,1628987695.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:34:55.539Z,1628987695.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:34:55.956Z,1628987695.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:34:56.778Z,1628987696.778 [Micromodem](INFO): Nmea in: $SNTTA,0.349363,,,,003456.76*4D

2021-08-15T00:34:57.575Z,1628987697.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:34:59.173Z,1628987699.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:59.173Z,1628987699.173 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:34:59.174Z,1628987699.174 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:35:00.415Z,1628987700.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:35:00.783Z,1628987700.783 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:35:00.783Z,1628987700.783 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:35:00.785Z,1628987700.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:35:00.789Z,1628987700.789 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:35:01.219Z,1628987701.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:35:01.219Z,1628987701.219 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:35:01.219Z,1628987701.219 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:35:01.222Z,1628987701.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:35:01.625Z,1628987701.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:35:02.467Z,1628987702.467 [Micromodem](INFO): Nmea in: $SNTTA,0.351538,,,,003502.45*4C

2021-08-15T00:35:02.930Z,1628987702.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:35:04.865Z,1628987704.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:35:04.865Z,1628987704.865 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:35:04.865Z,1628987704.865 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:35:05.686Z,1628987705.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:35:06.065Z,1628987706.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:35:06.065Z,1628987706.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:35:06.066Z,1628987706.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:35:06.067Z,1628987706.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:35:06.469Z,1628987706.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,2F,FF
2021-08-15T00:35:06.469Z,1628987706.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:35:06.469Z,1628987706.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:35:06.471Z,1628987706.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:35:06.911Z,1628987706.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:35:07.707Z,1628987707.707 [Micromodem](INFO): Nmea in: $SNTTA,0.353962,,,,003507.69*46

2021-08-15T00:35:08.085Z,1628987708.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD3,000,024CA,188,80,80,58,FF
2021-08-15T00:35:08.085Z,1628987708.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:35:08.528Z,1628987708.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 527.580017 m, bearing: 48.501819 deg, deltaT: 71.610529 s, approachRate: 0.627562 m/s, LOS rate: -0.081121 deg/s, posRepo size: 4
2021-08-15T00:35:11.029Z,1628987711.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:35:11.329Z,1628987711.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:35:11.329Z,1628987711.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:35:11.329Z,1628987711.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:35:11.330Z,1628987711.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:35:11.725Z,1628987711.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD3,000,024CA,188,80,80,58,FF
2021-08-15T00:35:11.726Z,1628987711.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:35:11.726Z,1628987711.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:35:11.728Z,1628987711.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:35:12.157Z,1628987712.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:35:12.955Z,1628987712.955 [Micromodem](INFO): Nmea in: $SNTTA,0.418852,0.418727,,,003512.95*5A

2021-08-15T00:35:13.337Z,1628987713.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,02501,188,80,80,58,FF
2021-08-15T00:35:13.338Z,1628987713.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:35:13.780Z,1628987713.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 530.880005 m, bearing: 48.431406 deg, deltaT: 5.265510 s, approachRate: 0.626718 m/s, LOS rate: -0.013372 deg/s, posRepo size: 4
2021-08-15T00:35:16.237Z,1628987716.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:35:16.569Z,1628987716.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:35:16.569Z,1628987716.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:35:16.569Z,1628987716.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:35:16.570Z,1628987716.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:35:16.993Z,1628987716.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,02501,188,80,80,58,FF
2021-08-15T00:35:16.993Z,1628987716.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:35:16.993Z,1628987716.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:35:16.995Z,1628987716.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:35:17.393Z,1628987717.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:35:18.228Z,1628987718.228 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003518.22*51

2021-08-15T00:35:18.605Z,1628987718.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,02536,187,80,80,55,FF
2021-08-15T00:35:18.605Z,1628987718.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:35:19.057Z,1628987719.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 534.059998 m, bearing: 48.081069 deg, deltaT: 5.240103 s, approachRate: 0.606857 m/s, LOS rate: -0.066857 deg/s, posRepo size: 4
2021-08-15T00:35:21.454Z,1628987721.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:35:21.834Z,1628987721.834 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:35:21.834Z,1628987721.834 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:35:21.834Z,1628987721.834 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:35:21.835Z,1628987721.835 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:35:22.234Z,1628987722.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF7,000,02536,187,80,80,55,FF
2021-08-15T00:35:22.234Z,1628987722.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:35:22.234Z,1628987722.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:35:22.237Z,1628987722.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:35:22.644Z,1628987722.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:35:23.043Z,1628987723.043 [Micromodem](INFO): Nmea in: $SNTTA,0.164792,0.163548,,,003523.46*59

2021-08-15T00:35:23.845Z,1628987723.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCE,000,02571,188,80,80,55,FF
2021-08-15T00:35:23.846Z,1628987723.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:35:24.309Z,1628987724.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 537.599976 m, bearing: 49.793841 deg, deltaT: 5.275474 s, approachRate: 0.671026 m/s, LOS rate: 0.324667 deg/s, posRepo size: 4
2021-08-15T00:35:26.757Z,1628987726.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:35:27.077Z,1628987727.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:35:27.077Z,1628987727.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:35:27.077Z,1628987727.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:35:27.078Z,1628987727.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:35:27.478Z,1628987727.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCE,000,02571,188,80,80,55,FF
2021-08-15T00:35:27.479Z,1628987727.479 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:35:27.479Z,1628987727.479 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:35:27.482Z,1628987727.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:35:27.916Z,1628987727.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:35:28.734Z,1628987728.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003528.71*54

2021-08-15T00:35:29.107Z,1628987729.107 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,025A7,188,80,80,58,FF
2021-08-15T00:35:29.108Z,1628987729.108 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:35:29.533Z,1628987729.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 540.840027 m, bearing: 49.023396 deg, deltaT: 5.268128 s, approachRate: 0.615029 m/s, LOS rate: -0.146247 deg/s, posRepo size: 4
2021-08-15T00:35:29.948Z,1628987729.948 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T00:35:31.992Z,1628987731.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:35:32.353Z,1628987732.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:35:32.353Z,1628987732.353 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:35:32.353Z,1628987732.353 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:35:32.354Z,1628987732.354 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:35:32.761Z,1628987732.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,025A7,188,80,80,58,FF
2021-08-15T00:35:32.761Z,1628987732.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:35:32.761Z,1628987732.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:35:32.762Z,1628987732.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:35:33.156Z,1628987733.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:35:34.003Z,1628987734.003 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003330*7B

2021-08-15T00:35:34.003Z,1628987734.003 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNTTA,,,,,003330*7B
 expected 73
2021-08-15T00:35:34.361Z,1628987734.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1C,000,025DE,187,80,80,54,FF
2021-08-15T00:35:34.362Z,1628987734.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:35:34.844Z,1628987734.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 544.140015 m, bearing: 45.923235 deg, deltaT: 5.240038 s, approachRate: 0.629764 m/s, LOS rate: -0.591630 deg/s, posRepo size: 4
2021-08-15T00:35:37.247Z,1628987737.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:35:37.597Z,1628987737.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:35:37.597Z,1628987737.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:35:37.597Z,1628987737.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:35:37.598Z,1628987737.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:35:37.997Z,1628987737.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1C,000,025DE,187,80,80,54,FF
2021-08-15T00:35:37.997Z,1628987737.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:35:37.998Z,1628987737.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:35:37.999Z,1628987737.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:35:38.405Z,1628987738.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:35:39.232Z,1628987739.232 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003539.22*52

2021-08-15T00:35:39.625Z,1628987739.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,02617,186,80,80,57,FF
2021-08-15T00:35:39.625Z,1628987739.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:35:40.085Z,1628987740.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 547.559998 m, bearing: 48.127176 deg, deltaT: 5.240567 s, approachRate: 0.652598 m/s, LOS rate: 0.420554 deg/s, posRepo size: 4
2021-08-15T00:35:42.470Z,1628987742.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:35:42.845Z,1628987742.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:35:42.845Z,1628987742.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:35:42.845Z,1628987742.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:35:42.846Z,1628987742.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:35:43.257Z,1628987743.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DED,000,02617,186,80,80,57,FF
2021-08-15T00:35:43.257Z,1628987743.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:35:43.257Z,1628987743.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:35:43.259Z,1628987743.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:35:43.657Z,1628987743.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:35:44.486Z,1628987744.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003544.48*54

2021-08-15T00:35:44.890Z,1628987744.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,0264E,186,80,80,67,FF
2021-08-15T00:35:44.891Z,1628987744.891 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:35:45.322Z,1628987745.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 550.859985 m, bearing: 46.197074 deg, deltaT: 5.324338 s, approachRate: 0.619793 m/s, LOS rate: -0.362506 deg/s, posRepo size: 4
2021-08-15T00:35:47.717Z,1628987747.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:35:48.097Z,1628987748.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:35:48.097Z,1628987748.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:35:48.097Z,1628987748.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:35:48.098Z,1628987748.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:35:48.501Z,1628987748.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,0264E,186,80,80,67,FF
2021-08-15T00:35:48.501Z,1628987748.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:35:48.502Z,1628987748.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:35:48.503Z,1628987748.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:35:48.921Z,1628987748.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:35:49.738Z,1628987749.738 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003549.73*51

2021-08-15T00:35:50.548Z,1628987750.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:35:52.137Z,1628987752.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,67,FF
2021-08-15T00:35:52.138Z,1628987752.138 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,67,FF
2021-08-15T00:35:52.138Z,1628987752.138 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:35:53.367Z,1628987753.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:35:53.757Z,1628987753.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:35:53.757Z,1628987753.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:35:53.758Z,1628987753.758 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:35:53.758Z,1628987753.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:35:54.157Z,1628987754.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,67,FF
2021-08-15T00:35:54.157Z,1628987754.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:35:54.157Z,1628987754.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:35:54.159Z,1628987754.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:35:54.576Z,1628987754.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:35:54.975Z,1628987754.975 [Micromodem](INFO): Nmea in: $SNTTA,0.158925,0.158800,,,003555.38*55

2021-08-15T00:35:55.778Z,1628987755.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,026C1,187,80,80,6E,FF
2021-08-15T00:35:55.778Z,1628987755.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:35:56.234Z,1628987756.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 557.760010 m, bearing: 46.943555 deg, deltaT: 10.870066 s, approachRate: 0.634773 m/s, LOS rate: 0.068673 deg/s, posRepo size: 4
2021-08-15T00:35:58.619Z,1628987758.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:35:59.005Z,1628987759.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:35:59.005Z,1628987759.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:35:59.005Z,1628987759.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:35:59.006Z,1628987759.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:35:59.413Z,1628987759.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,026C1,187,80,80,6E,FF
2021-08-15T00:35:59.413Z,1628987759.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:35:59.414Z,1628987759.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:35:59.415Z,1628987759.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:35:59.821Z,1628987759.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:36:00.664Z,1628987760.664 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003600.64*59

2021-08-15T00:36:01.085Z,1628987761.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,026FA,186,80,80,70,FF
2021-08-15T00:36:01.086Z,1628987761.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:36:01.467Z,1628987761.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 561.179993 m, bearing: 47.326077 deg, deltaT: 5.339168 s, approachRate: 0.640546 m/s, LOS rate: 0.071644 deg/s, posRepo size: 4
2021-08-15T00:36:03.923Z,1628987763.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:36:04.269Z,1628987764.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:36:04.269Z,1628987764.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:36:04.269Z,1628987764.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:36:04.270Z,1628987764.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:36:04.676Z,1628987764.676 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,026FA,186,80,80,70,FF
2021-08-15T00:36:04.677Z,1628987764.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:36:04.678Z,1628987764.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:36:04.689Z,1628987764.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:36:05.069Z,1628987765.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:36:05.930Z,1628987765.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003605.91*56

2021-08-15T00:36:06.290Z,1628987766.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,02732,187,80,80,71,FF
2021-08-15T00:36:06.290Z,1628987766.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:36:06.777Z,1628987766.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 564.539978 m, bearing: 46.856805 deg, deltaT: 5.126420 s, approachRate: 0.655425 m/s, LOS rate: -0.091540 deg/s, posRepo size: 4
2021-08-15T00:36:08.819Z,1628987768.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:36:09.113Z,1628987769.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:36:09.113Z,1628987769.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:36:09.114Z,1628987769.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:36:09.114Z,1628987769.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:36:09.509Z,1628987769.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,02732,187,80,80,71,FF
2021-08-15T00:36:09.509Z,1628987769.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:36:09.509Z,1628987769.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:36:09.511Z,1628987769.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:36:09.945Z,1628987769.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:36:10.758Z,1628987770.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003610.73*5E

2021-08-15T00:36:11.125Z,1628987771.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE3,000,02767,187,80,80,6E,FF
2021-08-15T00:36:11.126Z,1628987771.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:36:11.567Z,1628987771.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 567.719971 m, bearing: 49.070613 deg, deltaT: 4.846163 s, approachRate: 0.656188 m/s, LOS rate: 0.456817 deg/s, posRepo size: 4
2021-08-15T00:36:13.998Z,1628987773.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:36:14.354Z,1628987774.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:36:14.354Z,1628987774.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:36:14.354Z,1628987774.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:36:14.355Z,1628987774.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:36:14.769Z,1628987774.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,02767,187,80,80,6E,FF
2021-08-15T00:36:14.770Z,1628987774.770 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:36:14.770Z,1628987774.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:36:14.771Z,1628987774.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:36:15.188Z,1628987775.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:36:16.015Z,1628987776.015 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003615.99*5F

2021-08-15T00:36:16.389Z,1628987776.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,027A0,187,80,80,70,FF
2021-08-15T00:36:16.389Z,1628987776.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:36:16.840Z,1628987776.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 571.139954 m, bearing: 47.631379 deg, deltaT: 5.277924 s, approachRate: 0.647979 m/s, LOS rate: -0.272689 deg/s, posRepo size: 4
2021-08-15T00:36:19.270Z,1628987779.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:36:19.617Z,1628987779.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:36:19.617Z,1628987779.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:36:19.617Z,1628987779.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:36:19.618Z,1628987779.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:36:20.021Z,1628987780.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,027A0,187,80,80,70,FF
2021-08-15T00:36:20.021Z,1628987780.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:36:20.021Z,1628987780.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:36:20.023Z,1628987780.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:36:20.429Z,1628987780.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:36:20.852Z,1628987780.852 [Micromodem](INFO): Nmea in: $SNTTA,0.229083,0.229208,,,003621.25*5E

2021-08-15T00:36:21.634Z,1628987781.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,027D8,187,80,80,69,FF
2021-08-15T00:36:21.634Z,1628987781.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:36:22.083Z,1628987782.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 574.500000 m, bearing: 46.739043 deg, deltaT: 5.251977 s, approachRate: 0.639768 m/s, LOS rate: -0.169905 deg/s, posRepo size: 4
2021-08-15T00:36:24.494Z,1628987784.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:36:24.880Z,1628987784.880 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:36:24.881Z,1628987784.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:36:24.881Z,1628987784.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:36:24.883Z,1628987784.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:36:25.281Z,1628987785.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,027D8,187,80,80,69,FF
2021-08-15T00:36:25.281Z,1628987785.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:36:25.282Z,1628987785.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:36:25.283Z,1628987785.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:36:25.684Z,1628987785.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:36:26.508Z,1628987786.508 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003626.53*59

2021-08-15T00:36:26.901Z,1628987786.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,02813,186,80,80,71,FF
2021-08-15T00:36:26.902Z,1628987786.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:36:27.340Z,1628987787.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 578.039978 m, bearing: 46.586917 deg, deltaT: 5.308560 s, approachRate: 0.666843 m/s, LOS rate: -0.028657 deg/s, posRepo size: 4
2021-08-15T00:36:29.753Z,1628987789.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:36:30.125Z,1628987790.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:36:30.125Z,1628987790.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:36:30.125Z,1628987790.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:36:30.126Z,1628987790.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:36:30.525Z,1628987790.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,02813,186,80,80,71,FF
2021-08-15T00:36:30.525Z,1628987790.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:36:30.525Z,1628987790.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:36:30.527Z,1628987790.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:36:30.961Z,1628987790.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:36:31.766Z,1628987791.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003631.75*5B

2021-08-15T00:36:32.142Z,1628987792.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,0284C,187,80,80,68,FF
2021-08-15T00:36:32.142Z,1628987792.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:36:32.584Z,1628987792.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 581.460022 m, bearing: 47.522735 deg, deltaT: 5.177728 s, approachRate: 0.660530 m/s, LOS rate: 0.180739 deg/s, posRepo size: 4
2021-08-15T00:36:35.045Z,1628987795.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:36:35.373Z,1628987795.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:36:35.373Z,1628987795.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:36:35.373Z,1628987795.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:36:35.374Z,1628987795.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:36:35.777Z,1628987795.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFA,000,0284C,187,80,80,68,FF
2021-08-15T00:36:35.777Z,1628987795.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:36:35.778Z,1628987795.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:36:35.779Z,1628987795.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:36:36.184Z,1628987796.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:36:37.022Z,1628987797.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003637.01*5E

2021-08-15T00:36:37.404Z,1628987797.404 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,02885,187,80,80,60,FF
2021-08-15T00:36:37.406Z,1628987797.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:36:37.833Z,1628987797.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 584.880005 m, bearing: 48.018228 deg, deltaT: 5.254955 s, approachRate: 0.650811 m/s, LOS rate: 0.094291 deg/s, posRepo size: 4
2021-08-15T00:36:40.275Z,1628987800.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:36:40.636Z,1628987800.636 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:36:40.637Z,1628987800.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:36:40.637Z,1628987800.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:36:40.638Z,1628987800.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:36:41.029Z,1628987801.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,02885,187,80,80,60,FF
2021-08-15T00:36:41.029Z,1628987801.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:36:41.029Z,1628987801.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:36:41.031Z,1628987801.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:36:41.457Z,1628987801.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:36:42.266Z,1628987802.266 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003642.26*59

2021-08-15T00:36:43.067Z,1628987803.067 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,048D1,187,80,80,60,FF
2021-08-15T00:36:43.067Z,1628987803.067 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:36:43.481Z,1628987803.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1080.959961 m, bearing: 47.838201 deg, deltaT: 5.730958 s, approachRate: 86.561440 m/s, LOS rate: -0.031413 deg/s, posRepo size: 4
2021-08-15T00:36:45.944Z,1628987805.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:36:46.286Z,1628987806.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:36:46.286Z,1628987806.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:36:46.286Z,1628987806.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:36:46.287Z,1628987806.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:36:46.716Z,1628987806.716 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,048D1,187,80,80,60,FF
2021-08-15T00:36:46.717Z,1628987806.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:36:46.717Z,1628987806.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:36:46.718Z,1628987806.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:36:47.096Z,1628987807.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:36:47.930Z,1628987807.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003647.94*55

2021-08-15T00:36:48.301Z,1628987808.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,02901,186,80,80,69,FF
2021-08-15T00:36:48.301Z,1628987808.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:36:48.818Z,1628987808.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 592.320007 m, bearing: 45.405428 deg, deltaT: 5.163519 s, approachRate: -94.633125 m/s, LOS rate: -0.471146 deg/s, posRepo size: 4
2021-08-15T00:36:48.819Z,1628987808.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 592.32 m. Resuming terminal guidance.
2021-08-15T00:36:48.819Z,1628987808.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T00:36:51.182Z,1628987811.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:36:51.541Z,1628987811.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:36:51.541Z,1628987811.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:36:51.541Z,1628987811.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:36:51.542Z,1628987811.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:36:51.957Z,1628987811.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,02901,186,80,80,69,FF
2021-08-15T00:36:51.958Z,1628987811.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:36:51.958Z,1628987811.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:36:51.961Z,1628987811.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:36:52.349Z,1628987812.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:36:53.162Z,1628987813.162 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003653.18*54

2021-08-15T00:36:53.559Z,1628987813.559 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E37,000,0293A,186,80,80,65,FF
2021-08-15T00:36:53.559Z,1628987813.559 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:36:53.997Z,1628987813.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 595.739990 m, bearing: 45.781990 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T00:36:53.998Z,1628987813.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 45.781990deg and heading rate command to 0 deg/s.
2021-08-15T00:36:56.415Z,1628987816.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:36:56.790Z,1628987816.790 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:36:56.790Z,1628987816.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:36:56.790Z,1628987816.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:36:56.791Z,1628987816.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:36:57.197Z,1628987817.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E37,000,0293A,186,80,80,65,FF
2021-08-15T00:36:57.198Z,1628987817.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:36:57.198Z,1628987817.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:36:57.199Z,1628987817.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:36:57.603Z,1628987817.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:36:58.419Z,1628987818.419 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003658.43*51

2021-08-15T00:36:58.805Z,1628987818.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E45,000,02977,187,80,80,63,FF
2021-08-15T00:36:58.806Z,1628987818.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:36:59.274Z,1628987819.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 599.400024 m, bearing: 48.975076 deg, deltaT: 5.327806 s, approachRate: 0.686968 m/s, LOS rate: 0.599325 deg/s, posRepo size: 2
2021-08-15T00:36:59.277Z,1628987819.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 599.400024 m,
      bearing: 48.975076 deg,
      approachRate: 0.686968 m/s,
      LOS rate: 0.599325 deg/s,
      cmd update: 2.397299 deg/s,
      cmd heading: 45.781990 deg,
      new cmd heading: 45.781990 deg.

2021-08-15T00:37:01.685Z,1628987821.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:37:02.041Z,1628987822.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:37:02.041Z,1628987822.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:37:02.041Z,1628987822.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:37:02.042Z,1628987822.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:37:02.060Z,1628987822.060 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:37:02.441Z,1628987822.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E45,000,02977,187,80,80,63,FF
2021-08-15T00:37:02.441Z,1628987822.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:37:02.442Z,1628987822.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:37:02.443Z,1628987822.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:37:02.848Z,1628987822.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:37:03.687Z,1628987823.687 [Micromodem](INFO): Nmea in: $SNTTA,0.020294,,,,003703.67*4B

2021-08-15T00:37:04.483Z,1628987824.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:37:06.077Z,1628987826.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,63,FF
2021-08-15T00:37:06.078Z,1628987826.078 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,63,FF
2021-08-15T00:37:06.078Z,1628987826.078 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:37:06.083Z,1628987826.083 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:37:06.989Z,1628987826.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:37:07.289Z,1628987827.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:37:07.289Z,1628987827.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:37:07.289Z,1628987827.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:37:07.290Z,1628987827.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:37:07.693Z,1628987827.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,63,FF
2021-08-15T00:37:07.693Z,1628987827.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:37:07.693Z,1628987827.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:37:07.695Z,1628987827.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:37:08.100Z,1628987828.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:37:08.954Z,1628987828.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003708.92*59

2021-08-15T00:37:09.302Z,1628987829.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,029EA,186,80,80,5E,FF
2021-08-15T00:37:09.303Z,1628987829.303 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:37:09.748Z,1628987829.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 606.299988 m, bearing: 52.404036 deg, deltaT: 10.413905 s, approachRate: 0.662572 m/s, LOS rate: 0.329267 deg/s, posRepo size: 3
2021-08-15T00:37:09.750Z,1628987829.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 606.299988 m,
      bearing: 52.404036 deg,
      approachRate: 0.662572 m/s,
      LOS rate: 0.329267 deg/s,
      cmd update: 1.317070 deg/s,
      cmd heading: 70.766274 deg,
      new cmd heading: 71.730496 deg.

2021-08-15T00:37:11.019Z,1628987831.019 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:37:12.183Z,1628987832.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:37:12.541Z,1628987832.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:37:12.541Z,1628987832.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:37:12.541Z,1628987832.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:37:12.542Z,1628987832.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:37:12.950Z,1628987832.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,029EA,186,80,80,5E,FF
2021-08-15T00:37:12.951Z,1628987832.951 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:37:12.951Z,1628987832.951 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:37:12.953Z,1628987832.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:37:13.353Z,1628987833.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:37:14.191Z,1628987834.191 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003714.18*56

2021-08-15T00:37:14.575Z,1628987834.575 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,02A1D,187,80,80,65,FF
2021-08-15T00:37:14.575Z,1628987834.575 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:37:15.049Z,1628987835.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 609.359985 m, bearing: 84.972232 deg, deltaT: 5.246924 s, approachRate: 0.583198 m/s, LOS rate: 6.207103 deg/s, posRepo size: 4
2021-08-15T00:37:15.051Z,1628987835.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 609.359985 m,
      bearing: 84.972232 deg,
      approachRate: 0.583198 m/s,
      LOS rate: 6.207103 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 77.676877 deg,
      new cmd heading: 78.256419 deg.

2021-08-15T00:37:16.205Z,1628987836.205 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:37:17.420Z,1628987837.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:37:17.801Z,1628987837.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:37:17.801Z,1628987837.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:37:17.801Z,1628987837.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:37:17.802Z,1628987837.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:37:18.205Z,1628987838.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,02A1D,187,80,80,65,FF
2021-08-15T00:37:18.205Z,1628987838.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:37:18.206Z,1628987838.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:37:18.207Z,1628987838.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:37:18.617Z,1628987838.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:37:19.434Z,1628987839.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003719.43*55

2021-08-15T00:37:19.813Z,1628987839.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D45,000,02A51,189,80,80,80,FF
2021-08-15T00:37:19.814Z,1628987839.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:37:20.283Z,1628987840.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 612.479980 m, bearing: 119.396747 deg, deltaT: 5.239118 s, approachRate: 0.595519 m/s, LOS rate: 6.570670 deg/s, posRepo size: 4
2021-08-15T00:37:20.289Z,1628987840.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 612.479980 m,
      bearing: 119.396747 deg,
      approachRate: 0.595519 m/s,
      LOS rate: 6.570670 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 140.546798 deg,
      new cmd heading: 145.963010 deg.

2021-08-15T00:37:21.067Z,1628987841.067 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:37:22.733Z,1628987842.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:37:23.045Z,1628987843.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:37:23.045Z,1628987843.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:37:23.045Z,1628987843.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:37:23.046Z,1628987843.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:37:23.454Z,1628987843.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D45,000,02A51,189,80,80,80,FF
2021-08-15T00:37:23.454Z,1628987843.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:37:23.454Z,1628987843.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:37:23.455Z,1628987843.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:37:23.861Z,1628987843.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:37:24.717Z,1628987844.717 [Micromodem](INFO): Nmea in: $SNTTA,0.411862,,,,003724.68*44

2021-08-15T00:37:25.059Z,1628987845.059 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D14,000,02A77,189,80,80,97,FF
2021-08-15T00:37:25.059Z,1628987845.059 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:37:25.500Z,1628987845.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 614.760010 m, bearing: 141.539278 deg, deltaT: 5.275817 s, approachRate: 0.432166 m/s, LOS rate: 4.196986 deg/s, posRepo size: 4
2021-08-15T00:37:25.502Z,1628987845.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 614.760010 m,
      bearing: 141.539278 deg,
      approachRate: 0.432166 m/s,
      LOS rate: 4.196986 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 203.855800 deg,
      new cmd heading: 208.563640 deg.

2021-08-15T00:37:25.937Z,1628987845.937 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T00:37:27.949Z,1628987847.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:37:28.301Z,1628987848.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:37:28.301Z,1628987848.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:37:28.301Z,1628987848.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:37:28.302Z,1628987848.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:37:28.751Z,1628987848.751 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D14,000,02A77,189,80,80,97,FF
2021-08-15T00:37:28.752Z,1628987848.752 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:37:28.752Z,1628987848.752 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:37:28.754Z,1628987848.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:37:29.144Z,1628987849.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:37:29.979Z,1628987849.979 [Micromodem](INFO): Nmea in: $SNTTA,0.412499,,,,003729.98*4D

2021-08-15T00:37:30.341Z,1628987850.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E06,000,02A88,186,80,80,9A,FF
2021-08-15T00:37:30.341Z,1628987850.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:37:30.808Z,1628987850.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 615.779968 m, bearing: 151.068362 deg, deltaT: 5.251900 s, approachRate: 0.194208 m/s, LOS rate: 1.814407 deg/s, posRepo size: 4
2021-08-15T00:37:30.811Z,1628987850.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 615.779968 m,
      bearing: 151.068362 deg,
      approachRate: 0.194208 m/s,
      LOS rate: 1.814407 deg/s,
      cmd update: 7.257628 deg/s,
      cmd heading: 266.879033 deg,
      new cmd heading: 272.267357 deg.

2021-08-15T00:37:33.221Z,1628987853.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:37:33.577Z,1628987853.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:37:33.577Z,1628987853.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:37:33.577Z,1628987853.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:37:33.578Z,1628987853.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:37:33.981Z,1628987853.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E06,000,02A88,186,80,80,9A,FF
2021-08-15T00:37:33.981Z,1628987853.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:37:33.982Z,1628987853.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:37:33.983Z,1628987853.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:37:34.385Z,1628987854.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:37:34.787Z,1628987854.787 [Micromodem](INFO): Nmea in: $SNTTA,0.249513,0.249638,,,003735.21*55

2021-08-15T00:37:35.593Z,1628987855.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,02A83,189,80,80,9D,FF
2021-08-15T00:37:35.593Z,1628987855.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:37:36.011Z,1628987856.011 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T00:37:36.046Z,1628987856.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 615.479980 m, bearing: 212.123641 deg, deltaT: 5.287526 s, approachRate: -0.056735 m/s, LOS rate: 11.547041 deg/s, posRepo size: 4
2021-08-15T00:37:36.047Z,1628987856.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.547041 deg/s. Setting heading cmd to target bearing of 212.123641deg and heading rate command to 0 deg/s.
2021-08-15T00:37:38.447Z,1628987858.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:37:38.825Z,1628987858.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:37:38.825Z,1628987858.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:37:38.825Z,1628987858.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:37:38.826Z,1628987858.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:37:39.238Z,1628987859.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,02A83,189,80,80,9D,FF
2021-08-15T00:37:39.238Z,1628987859.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:37:39.239Z,1628987859.239 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:37:39.241Z,1628987859.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:37:39.637Z,1628987859.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:37:40.466Z,1628987860.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003740.47*5D

2021-08-15T00:37:40.845Z,1628987860.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7F,000,02A6C,189,80,80,9D,FF
2021-08-15T00:37:40.846Z,1628987860.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:37:40.970Z,1628987860.970 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T00:37:41.291Z,1628987861.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 614.099976 m, bearing: 214.883338 deg, deltaT: 5.356893 s, approachRate: -0.257613 m/s, LOS rate: 0.515167 deg/s, posRepo size: 4
2021-08-15T00:37:41.294Z,1628987861.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 614.099976 m,
      bearing: 214.883338 deg,
      approachRate: -0.257613 m/s,
      LOS rate: 0.515167 deg/s,
      cmd update: 2.060670 deg/s,
      cmd heading: 212.123641 deg,
      new cmd heading: 212.123641 deg.

2021-08-15T00:37:43.718Z,1628987863.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:37:44.085Z,1628987864.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:37:44.085Z,1628987864.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:37:44.086Z,1628987864.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:37:44.086Z,1628987864.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:37:44.481Z,1628987864.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7F,000,02A6C,189,80,80,9D,FF
2021-08-15T00:37:44.481Z,1628987864.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:37:44.481Z,1628987864.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:37:44.483Z,1628987864.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:37:44.914Z,1628987864.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:37:45.731Z,1628987865.731 [Micromodem](INFO): Nmea in: $SNTTA,0.409907,,,,003745.71*40

2021-08-15T00:37:46.097Z,1628987866.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23B,000,02A44,189,80,80,8B,FF
2021-08-15T00:37:46.098Z,1628987866.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:37:46.539Z,1628987866.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 611.700012 m, bearing: 163.912983 deg, deltaT: 5.123346 s, approachRate: -0.468437 m/s, LOS rate: -9.948646 deg/s, posRepo size: 4
2021-08-15T00:37:46.542Z,1628987866.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 611.700012 m,
      bearing: 163.912983 deg,
      approachRate: -0.468437 m/s,
      LOS rate: -9.948646 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 222.689281 deg,
      new cmd heading: 223.539385 deg.

2021-08-15T00:37:49.034Z,1628987869.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:37:49.337Z,1628987869.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:37:49.337Z,1628987869.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:37:49.337Z,1628987869.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:37:49.338Z,1628987869.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:37:49.739Z,1628987869.739 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23B,000,02A44,189,80,80,8B,FF
2021-08-15T00:37:49.739Z,1628987869.739 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:37:49.739Z,1628987869.739 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:37:49.741Z,1628987869.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:37:50.140Z,1628987870.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:37:50.989Z,1628987870.989 [Micromodem](INFO): Nmea in: $SNTTA,0.367424,0.367986,,,003750.97*54

2021-08-15T00:37:51.365Z,1628987871.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,02A11,186,80,80,A8,FF
2021-08-15T00:37:51.365Z,1628987871.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:37:51.795Z,1628987871.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 608.640015 m, bearing: 217.446968 deg, deltaT: 5.261095 s, approachRate: -0.581627 m/s, LOS rate: 10.175445 deg/s, posRepo size: 4
2021-08-15T00:37:51.798Z,1628987871.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 608.640015 m,
      bearing: 217.446968 deg,
      approachRate: -0.581627 m/s,
      LOS rate: 10.175445 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 159.556511 deg,
      new cmd heading: 154.668130 deg.

2021-08-15T00:37:54.218Z,1628987874.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:37:54.577Z,1628987874.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:37:54.577Z,1628987874.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:37:54.577Z,1628987874.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:37:54.578Z,1628987874.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:37:54.989Z,1628987874.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,02A11,186,80,80,A8,FF
2021-08-15T00:37:54.989Z,1628987874.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:37:54.989Z,1628987874.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:37:54.991Z,1628987874.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:37:55.397Z,1628987875.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:37:56.239Z,1628987876.239 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003756.22*59

2021-08-15T00:37:57.079Z,1628987877.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:37:57.406Z,1628987877.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,04A27,187,80,80,AB,FF
2021-08-15T00:37:57.406Z,1628987877.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:37:57.860Z,1628987877.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1101.480103 m, bearing: 211.479090 deg, deltaT: 6.035185 s, approachRate: 81.661140 m/s, LOS rate: -0.988848 deg/s, posRepo size: 4
2021-08-15T00:37:57.862Z,1628987877.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1101.480103 m,
      bearing: 211.479090 deg,
      approachRate: 81.661140 m/s,
      LOS rate: -0.988848 deg/s,
      cmd update: -3.955390 deg/s,
      cmd heading: 231.979621 deg,
      new cmd heading: 237.217429 deg.

2021-08-15T00:38:00.292Z,1628987880.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:38:00.641Z,1628987880.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:38:00.641Z,1628987880.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:38:00.641Z,1628987880.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:38:00.642Z,1628987880.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:38:01.053Z,1628987881.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,04A27,187,80,80,AB,FF
2021-08-15T00:38:01.053Z,1628987881.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:38:01.053Z,1628987881.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:38:01.055Z,1628987881.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:38:01.457Z,1628987881.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:38:02.286Z,1628987882.286 [Micromodem](INFO): Nmea in: $SNTTA,0.353807,,,,003802.28*49

2021-08-15T00:38:02.674Z,1628987882.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB5,000,024BE,189,80,80,A6,FF
2021-08-15T00:38:02.675Z,1628987882.675 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:38:03.129Z,1628987883.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 526.859985 m, bearing: 222.618391 deg, deltaT: 5.351739 s, approachRate: -107.370728 m/s, LOS rate: 2.081436 deg/s, posRepo size: 4
2021-08-15T00:38:03.131Z,1628987883.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 526.859985 m,
      bearing: 222.618391 deg,
      approachRate: -107.370728 m/s,
      LOS rate: 2.081436 deg/s,
      cmd update: 8.325743 deg/s,
      cmd heading: 210.811389 deg,
      new cmd heading: 209.428521 deg.

2021-08-15T00:38:05.531Z,1628987885.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:38:05.932Z,1628987885.932 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:38:05.933Z,1628987885.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:38:05.935Z,1628987885.935 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:38:05.943Z,1628987885.943 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:38:05.963Z,1628987885.963 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T00:38:06.297Z,1628987886.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB5,000,024BE,189,80,80,A6,FF
2021-08-15T00:38:06.297Z,1628987886.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:38:06.297Z,1628987886.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:38:06.299Z,1628987886.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:38:06.755Z,1628987886.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:38:06.770Z,1628987886.770 [Micromodem](INFO): Nmea in: UV,2.1.4000*26

2021-08-15T00:38:06.771Z,1628987886.771 [Micromodem](ERROR): Response from modem failed NMEA checksum: UV,2.1.4000*26
 expected 0
2021-08-15T00:38:07.957Z,1628987887.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,02967,186,80,80,A5,FF
2021-08-15T00:38:07.958Z,1628987887.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:38:08.364Z,1628987888.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 598.440002 m, bearing: 214.588834 deg, deltaT: 5.230755 s, approachRate: 13.684452 m/s, LOS rate: -1.535066 deg/s, posRepo size: 4
2021-08-15T00:38:08.366Z,1628987888.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 598.440002 m,
      bearing: 214.588834 deg,
      approachRate: 13.684452 m/s,
      LOS rate: -1.535066 deg/s,
      cmd update: -6.140266 deg/s,
      cmd heading: 254.361768 deg,
      new cmd heading: 257.346155 deg.

2021-08-15T00:38:11.012Z,1628987891.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:38:11.295Z,1628987891.295 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:38:11.295Z,1628987891.295 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:38:11.296Z,1628987891.296 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:38:11.297Z,1628987891.297 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:38:11.685Z,1628987891.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,02967,186,80,80,A5,FF
2021-08-15T00:38:11.685Z,1628987891.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:38:11.686Z,1628987891.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:38:11.687Z,1628987891.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:38:12.084Z,1628987892.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:38:12.962Z,1628987892.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003812.91*5E

2021-08-15T00:38:13.739Z,1628987893.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:38:14.969Z,1628987894.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,6,02967,186,80,80,A5,FF
2021-08-15T00:38:14.969Z,1628987894.969 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,6,02967,186,80,80,A5,FF
2021-08-15T00:38:14.969Z,1628987894.969 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:38:16.554Z,1628987896.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:38:16.965Z,1628987896.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:38:16.966Z,1628987896.966 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:38:16.966Z,1628987896.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:38:16.967Z,1628987896.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:38:17.337Z,1628987897.337 [DUSBL_Hydroid](INFO): DUSBL response received:3,E4
!U1,P
,6,02967,186,80,80,A5,FF
2021-08-15T00:38:17.337Z,1628987897.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:38:17.337Z,1628987897.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:38:17.339Z,1628987897.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:38:17.744Z,1628987897.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:38:18.574Z,1628987898.574 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003818.56*5F

2021-08-15T00:38:18.973Z,1628987898.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AF,000,028EF,186,80,80,99,FF
2021-08-15T00:38:18.973Z,1628987898.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:38:19.397Z,1628987899.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 591.239990 m, bearing: 213.084786 deg, deltaT: 11.038180 s, approachRate: -0.652283 m/s, LOS rate: -0.136259 deg/s, posRepo size: 4
2021-08-15T00:38:19.399Z,1628987899.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 591.239990 m,
      bearing: 213.084786 deg,
      approachRate: -0.652283 m/s,
      LOS rate: -0.136259 deg/s,
      cmd update: -0.545035 deg/s,
      cmd heading: 186.584876 deg,
      new cmd heading: 184.417411 deg.

2021-08-15T00:38:21.808Z,1628987901.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:38:22.185Z,1628987902.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:38:22.185Z,1628987902.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:38:22.185Z,1628987902.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:38:22.186Z,1628987902.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:38:22.593Z,1628987902.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AF,000,028EF,186,80,80,99,FF
2021-08-15T00:38:22.593Z,1628987902.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:38:22.593Z,1628987902.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:38:22.595Z,1628987902.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:38:23.019Z,1628987903.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:38:23.834Z,1628987903.834 [Micromodem](INFO): Nmea in: $SNTTA,0.391651,,,,003823.82*49

2021-08-15T00:38:24.218Z,1628987904.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,028B6,184,80,80,A4,FF
2021-08-15T00:38:24.218Z,1628987904.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:38:24.709Z,1628987904.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 587.820007 m, bearing: 214.923445 deg, deltaT: 5.232787 s, approachRate: -0.653568 m/s, LOS rate: 0.351373 deg/s, posRepo size: 4
2021-08-15T00:38:24.717Z,1628987904.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 587.820007 m,
      bearing: 214.923445 deg,
      approachRate: -0.653568 m/s,
      LOS rate: 0.351373 deg/s,
      cmd update: 1.405492 deg/s,
      cmd heading: 183.743809 deg,
      new cmd heading: 183.504394 deg.

2021-08-15T00:38:27.121Z,1628987907.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:38:27.437Z,1628987907.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:38:27.437Z,1628987907.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:38:27.437Z,1628987907.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:38:27.438Z,1628987907.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:38:27.841Z,1628987907.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,028B6,184,80,80,A4,FF
2021-08-15T00:38:27.841Z,1628987907.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:38:27.842Z,1628987907.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:38:27.843Z,1628987907.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:38:28.252Z,1628987908.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:38:29.082Z,1628987909.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003829.07*59

2021-08-15T00:38:29.472Z,1628987909.472 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E21,000,0287E,186,80,80,A6,FF
2021-08-15T00:38:29.473Z,1628987909.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:38:29.917Z,1628987909.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 584.460022 m, bearing: 218.591107 deg, deltaT: 5.216847 s, approachRate: -0.644064 m/s, LOS rate: 0.703042 deg/s, posRepo size: 4
2021-08-15T00:38:29.919Z,1628987909.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 584.460022 m,
      bearing: 218.591107 deg,
      approachRate: -0.644064 m/s,
      LOS rate: 0.703042 deg/s,
      cmd update: 2.812167 deg/s,
      cmd heading: 191.104430 deg,
      new cmd heading: 191.699074 deg.

2021-08-15T00:38:32.313Z,1628987912.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:38:32.729Z,1628987912.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:38:32.729Z,1628987912.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:38:32.729Z,1628987912.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:38:32.730Z,1628987912.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:38:33.097Z,1628987913.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E21,000,0287E,186,80,80,A6,FF
2021-08-15T00:38:33.097Z,1628987913.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:38:33.097Z,1628987913.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:38:33.099Z,1628987913.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:38:33.537Z,1628987913.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:38:34.356Z,1628987914.356 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003834.32*53

2021-08-15T00:38:34.757Z,1628987914.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,02845,186,80,80,9F,FF
2021-08-15T00:38:34.757Z,1628987914.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:38:35.182Z,1628987915.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 581.040039 m, bearing: 221.311229 deg, deltaT: 5.340559 s, approachRate: -0.640379 m/s, LOS rate: 0.509333 deg/s, posRepo size: 4
2021-08-15T00:38:35.192Z,1628987915.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 581.040039 m,
      bearing: 221.311229 deg,
      approachRate: -0.640379 m/s,
      LOS rate: 0.509333 deg/s,
      cmd update: 2.037332 deg/s,
      cmd heading: 206.111818 deg,
      new cmd heading: 207.101670 deg.

2021-08-15T00:38:37.595Z,1628987917.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:38:37.969Z,1628987917.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:38:37.969Z,1628987917.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:38:37.970Z,1628987917.970 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:38:37.970Z,1628987917.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:38:38.372Z,1628987918.372 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,02845,186,80,80,9F,FF
2021-08-15T00:38:38.373Z,1628987918.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:38:38.373Z,1628987918.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:38:38.374Z,1628987918.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:38:38.778Z,1628987918.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:38:40.001Z,1628987920.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,0280E,187,80,80,A5,FF
2021-08-15T00:38:40.001Z,1628987920.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:38:40.427Z,1628987920.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 577.739990 m, bearing: 219.398244 deg, deltaT: 5.227039 s, approachRate: -0.631342 m/s, LOS rate: -0.365979 deg/s, posRepo size: 4
2021-08-15T00:38:40.429Z,1628987920.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 577.739990 m,
      bearing: 219.398244 deg,
      approachRate: -0.631342 m/s,
      LOS rate: -0.365979 deg/s,
      cmd update: -1.463915 deg/s,
      cmd heading: 216.745868 deg,
      new cmd heading: 217.514182 deg.

2021-08-15T00:38:42.907Z,1628987922.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:38:43.248Z,1628987923.248 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:38:43.248Z,1628987923.248 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:38:43.249Z,1628987923.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:38:43.249Z,1628987923.249 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:38:43.637Z,1628987923.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,0280E,187,80,80,A5,FF
2021-08-15T00:38:43.637Z,1628987923.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:38:43.637Z,1628987923.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:38:43.639Z,1628987923.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:38:44.061Z,1628987924.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:38:44.862Z,1628987924.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003844.87*5A

2021-08-15T00:38:45.254Z,1628987925.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,027D0,184,80,80,9D,FF
2021-08-15T00:38:45.255Z,1628987925.255 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:38:45.692Z,1628987925.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 574.020020 m, bearing: 218.844110 deg, deltaT: 5.210816 s, approachRate: -0.713894 m/s, LOS rate: -0.106343 deg/s, posRepo size: 4
2021-08-15T00:38:45.694Z,1628987925.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 574.020020 m,
      bearing: 218.844110 deg,
      approachRate: -0.713894 m/s,
      LOS rate: -0.106343 deg/s,
      cmd update: -0.425372 deg/s,
      cmd heading: 209.100877 deg,
      new cmd heading: 208.485908 deg.

2021-08-15T00:38:48.146Z,1628987928.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:38:48.488Z,1628987928.488 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:38:48.489Z,1628987928.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:38:48.489Z,1628987928.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:38:48.490Z,1628987928.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:38:48.895Z,1628987928.895 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,027D0,184,80,80,9D,FF
2021-08-15T00:38:48.895Z,1628987928.895 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:38:48.897Z,1628987928.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:38:48.902Z,1628987928.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:38:49.300Z,1628987929.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:38:50.122Z,1628987930.122 [Micromodem](INFO): Nmea in: $SNTTA,0.380117,,,,003850.13*40

2021-08-15T00:38:50.501Z,1628987930.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,02796,184,80,80,AA,FF
2021-08-15T00:38:50.502Z,1628987930.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:38:51.029Z,1628987931.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 570.540039 m, bearing: 218.236415 deg, deltaT: 5.248843 s, approachRate: -0.663000 m/s, LOS rate: -0.115777 deg/s, posRepo size: 4
2021-08-15T00:38:51.031Z,1628987931.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 570.540039 m,
      bearing: 218.236415 deg,
      approachRate: -0.663000 m/s,
      LOS rate: -0.115777 deg/s,
      cmd update: -0.463108 deg/s,
      cmd heading: 206.868281 deg,
      new cmd heading: 206.655718 deg.

2021-08-15T00:38:53.335Z,1628987933.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:38:53.741Z,1628987933.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:38:53.741Z,1628987933.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:38:53.741Z,1628987933.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:38:53.742Z,1628987933.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:38:54.130Z,1628987934.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,02796,184,80,80,AA,FF
2021-08-15T00:38:54.130Z,1628987934.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:38:54.130Z,1628987934.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:38:54.131Z,1628987934.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:38:54.553Z,1628987934.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:38:54.951Z,1628987934.951 [Micromodem](INFO): Nmea in: $SNTTA,0.210395,0.210283,,,003855.37*57

2021-08-15T00:38:56.225Z,1628987936.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:38:57.766Z,1628987937.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,184,80,80,AA,FF
2021-08-15T00:38:57.766Z,1628987937.766 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,184,80,80,AA,FF
2021-08-15T00:38:57.767Z,1628987937.767 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:38:59.046Z,1628987939.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:38:59.388Z,1628987939.388 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:38:59.388Z,1628987939.388 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:38:59.388Z,1628987939.388 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:38:59.390Z,1628987939.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:38:59.785Z,1628987939.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,184,80,80,AA,FF
2021-08-15T00:38:59.785Z,1628987939.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:38:59.785Z,1628987939.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:38:59.787Z,1628987939.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:39:00.190Z,1628987940.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:39:01.053Z,1628987941.053 [Micromodem](INFO): Nmea in: $SNTTA,0.346871,0.346990,,,003901.01*5A

2021-08-15T00:39:01.844Z,1628987941.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:39:03.430Z,1628987943.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,184,80,80,AA,FF
2021-08-15T00:39:03.431Z,1628987943.431 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,184,80,80,AA,FF
2021-08-15T00:39:03.431Z,1628987943.431 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:39:04.713Z,1628987944.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:39:05.041Z,1628987945.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:39:05.042Z,1628987945.042 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:39:05.042Z,1628987945.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:39:05.043Z,1628987945.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:39:05.441Z,1628987945.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,184,80,80,AA,FF
2021-08-15T00:39:05.441Z,1628987945.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:39:05.441Z,1628987945.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:39:05.443Z,1628987945.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:39:05.861Z,1628987945.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:39:06.692Z,1628987946.692 [Micromodem](INFO): Nmea in: $SNTTA,0.375263,,,,003906.67*4B

2021-08-15T00:39:07.057Z,1628987947.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,026D7,187,80,80,98,FF
2021-08-15T00:39:07.058Z,1628987947.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:39:07.505Z,1628987947.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 559.080017 m, bearing: 218.322093 deg, deltaT: 16.607178 s, approachRate: -0.690064 m/s, LOS rate: 0.005159 deg/s, posRepo size: 4
2021-08-15T00:39:07.509Z,1628987947.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 559.080017 m,
      bearing: 218.322093 deg,
      approachRate: -0.690064 m/s,
      LOS rate: 0.005159 deg/s,
      cmd update: 0.020636 deg/s,
      cmd heading: 199.177513 deg,
      new cmd heading: 199.003264 deg.

2021-08-15T00:39:09.953Z,1628987949.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:39:10.298Z,1628987950.298 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:39:10.298Z,1628987950.298 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:39:10.298Z,1628987950.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:39:10.299Z,1628987950.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:39:10.739Z,1628987950.739 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,026D7,187,80,80,98,FF
2021-08-15T00:39:10.739Z,1628987950.739 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:39:10.739Z,1628987950.739 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:39:10.741Z,1628987950.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:39:11.169Z,1628987951.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:39:11.994Z,1628987951.994 [Micromodem](INFO): Nmea in: $SNTTA,0.372922,,,,003911.97*4B

2021-08-15T00:39:12.354Z,1628987952.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,0269C,186,80,80,8D,FF
2021-08-15T00:39:12.354Z,1628987952.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:39:12.843Z,1628987952.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 555.539978 m, bearing: 219.652818 deg, deltaT: 5.259621 s, approachRate: -0.673060 m/s, LOS rate: 0.253008 deg/s, posRepo size: 4
2021-08-15T00:39:12.854Z,1628987952.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 555.539978 m,
      bearing: 219.652818 deg,
      approachRate: -0.673060 m/s,
      LOS rate: 0.253008 deg/s,
      cmd update: 1.012032 deg/s,
      cmd heading: 199.286001 deg,
      new cmd heading: 199.295465 deg.

2021-08-15T00:39:14.920Z,1628987954.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:39:15.181Z,1628987955.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:39:15.181Z,1628987955.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:39:15.181Z,1628987955.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:39:15.182Z,1628987955.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:39:15.589Z,1628987955.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,0269C,186,80,80,8D,FF
2021-08-15T00:39:15.589Z,1628987955.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:39:15.589Z,1628987955.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:39:15.591Z,1628987955.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:39:16.022Z,1628987956.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:39:16.831Z,1628987956.831 [Micromodem](INFO): Nmea in: $SNTTA,0.370486,,,,003916.82*49

2021-08-15T00:39:17.216Z,1628987957.216 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,02668,187,80,80,94,FF
2021-08-15T00:39:17.217Z,1628987957.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:39:17.651Z,1628987957.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 552.419983 m, bearing: 220.634672 deg, deltaT: 4.890242 s, approachRate: -0.638004 m/s, LOS rate: 0.200778 deg/s, posRepo size: 4
2021-08-15T00:39:17.658Z,1628987957.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 552.419983 m,
      bearing: 220.634672 deg,
      approachRate: -0.638004 m/s,
      LOS rate: 0.200778 deg/s,
      cmd update: 0.803112 deg/s,
      cmd heading: 204.207790 deg,
      new cmd heading: 204.616224 deg.

2021-08-15T00:39:20.073Z,1628987960.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:39:20.437Z,1628987960.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:39:20.437Z,1628987960.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:39:20.437Z,1628987960.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:39:20.438Z,1628987960.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:39:20.858Z,1628987960.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,02668,187,80,80,94,FF
2021-08-15T00:39:20.858Z,1628987960.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:39:20.858Z,1628987960.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:39:20.860Z,1628987960.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:39:21.272Z,1628987961.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:39:22.091Z,1628987962.091 [Micromodem](INFO): Nmea in: $SNTTA,0.368000,,,,003922.09*4E

2021-08-15T00:39:22.461Z,1628987962.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,0262B,186,80,80,99,FF
2021-08-15T00:39:22.461Z,1628987962.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:39:22.980Z,1628987962.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 548.760010 m, bearing: 220.352763 deg, deltaT: 5.229831 s, approachRate: -0.699826 m/s, LOS rate: -0.053904 deg/s, posRepo size: 4
2021-08-15T00:39:22.982Z,1628987962.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 548.760010 m,
      bearing: 220.352763 deg,
      approachRate: -0.699826 m/s,
      LOS rate: -0.053904 deg/s,
      cmd update: -0.215616 deg/s,
      cmd heading: 208.428786 deg,
      new cmd heading: 208.811176 deg.

2021-08-15T00:39:25.318Z,1628987965.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:39:25.693Z,1628987965.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:39:25.693Z,1628987965.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:39:25.693Z,1628987965.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:39:25.694Z,1628987965.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:39:26.105Z,1628987966.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,0262B,186,80,80,99,FF
2021-08-15T00:39:26.105Z,1628987966.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:39:26.105Z,1628987966.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:39:26.107Z,1628987966.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:39:26.513Z,1628987966.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:39:27.355Z,1628987967.355 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003927.33*51

2021-08-15T00:39:27.710Z,1628987967.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,025ED,187,80,80,8E,FF
2021-08-15T00:39:27.710Z,1628987967.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:39:28.169Z,1628987968.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 545.039978 m, bearing: 219.784614 deg, deltaT: 5.224230 s, approachRate: -0.712073 m/s, LOS rate: -0.108753 deg/s, posRepo size: 4
2021-08-15T00:39:28.171Z,1628987968.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 545.039978 m,
      bearing: 219.784614 deg,
      approachRate: -0.712073 m/s,
      LOS rate: -0.108753 deg/s,
      cmd update: -0.435011 deg/s,
      cmd heading: 207.301551 deg,
      new cmd heading: 207.210771 deg.

2021-08-15T00:39:30.566Z,1628987970.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:39:30.957Z,1628987970.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:39:30.957Z,1628987970.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:39:30.958Z,1628987970.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:39:30.959Z,1628987970.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:39:31.349Z,1628987971.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,025ED,187,80,80,8E,FF
2021-08-15T00:39:31.349Z,1628987971.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:39:31.350Z,1628987971.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:39:31.351Z,1628987971.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:39:31.756Z,1628987971.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:39:32.590Z,1628987972.590 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003932.58*58

2021-08-15T00:39:32.979Z,1628987972.979 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,025B2,186,80,80,6B,FF
2021-08-15T00:39:32.979Z,1628987972.979 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:39:33.412Z,1628987973.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 541.500000 m, bearing: 220.482400 deg, deltaT: 5.322673 s, approachRate: -0.665075 m/s, LOS rate: 0.131097 deg/s, posRepo size: 4
2021-08-15T00:39:33.414Z,1628987973.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 541.500000 m,
      bearing: 220.482400 deg,
      approachRate: -0.665075 m/s,
      LOS rate: 0.131097 deg/s,
      cmd update: 0.524388 deg/s,
      cmd heading: 204.987755 deg,
      new cmd heading: 204.830684 deg.

2021-08-15T00:39:35.815Z,1628987975.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:39:36.205Z,1628987976.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:39:36.205Z,1628987976.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:39:36.205Z,1628987976.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:39:36.206Z,1628987976.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:39:36.601Z,1628987976.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,025B2,186,80,80,6B,FF
2021-08-15T00:39:36.601Z,1628987976.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:39:36.601Z,1628987976.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:39:36.603Z,1628987976.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:39:37.023Z,1628987977.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:39:37.838Z,1628987977.838 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003937.83*5B

2021-08-15T00:39:38.219Z,1628987978.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,02575,187,80,80,6E,FF
2021-08-15T00:39:38.219Z,1628987978.219 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:39:38.717Z,1628987978.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 537.839966 m, bearing: 220.130850 deg, deltaT: 5.229358 s, approachRate: -0.699901 m/s, LOS rate: -0.067226 deg/s, posRepo size: 4
2021-08-15T00:39:38.719Z,1628987978.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 537.839966 m,
      bearing: 220.130850 deg,
      approachRate: -0.699901 m/s,
      LOS rate: -0.067226 deg/s,
      cmd update: -0.268905 deg/s,
      cmd heading: 207.729948 deg,
      new cmd heading: 207.958728 deg.

2021-08-15T00:39:41.127Z,1628987981.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:39:41.453Z,1628987981.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:39:41.453Z,1628987981.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:39:41.453Z,1628987981.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:39:41.454Z,1628987981.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:39:41.856Z,1628987981.856 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F64,000,02575,187,80,80,6E,FF
2021-08-15T00:39:41.856Z,1628987981.856 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:39:41.856Z,1628987981.856 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:39:41.858Z,1628987981.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:39:42.269Z,1628987982.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:39:42.701Z,1628987982.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,009EF,186,80,80,93,FF
2021-08-15T00:39:42.702Z,1628987982.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:39:43.109Z,1628987983.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003943.08*5B

2021-08-15T00:39:43.135Z,1628987983.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.080002 m, bearing: 219.724795 deg, deltaT: 4.488080 s, approachRate: -94.196167 m/s, LOS rate: -0.090474 deg/s, posRepo size: 4
2021-08-15T00:39:43.137Z,1628987983.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.080002 m,
      bearing: 219.724795 deg,
      approachRate: -94.196167 m/s,
      LOS rate: -0.090474 deg/s,
      cmd update: -0.361896 deg/s,
      cmd heading: 206.522140 deg,
      new cmd heading: 206.424349 deg.

2021-08-15T00:39:45.511Z,1628987985.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:39:45.925Z,1628987985.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:39:45.925Z,1628987985.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:39:45.925Z,1628987985.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:39:45.925Z,1628987985.925 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:39:46.293Z,1628987986.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,009EF,186,80,80,93,FF
2021-08-15T00:39:46.293Z,1628987986.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:39:46.294Z,1628987986.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:39:46.295Z,1628987986.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:39:46.753Z,1628987986.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:39:47.547Z,1628987987.547 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003947.52*50

2021-08-15T00:39:47.945Z,1628987987.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,02503,186,80,80,76,FF
2021-08-15T00:39:47.945Z,1628987987.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:39:48.370Z,1628987988.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 531.000000 m, bearing: 220.733641 deg, deltaT: 5.207273 s, approachRate: 79.872894 m/s, LOS rate: 0.193738 deg/s, posRepo size: 4
2021-08-15T00:39:48.373Z,1628987988.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 531.000000 m,
      bearing: 220.733641 deg,
      approachRate: 79.872894 m/s,
      LOS rate: 0.193738 deg/s,
      cmd update: 0.774952 deg/s,
      cmd heading: 204.638855 deg,
      new cmd heading: 204.496012 deg.

2021-08-15T00:39:50.825Z,1628987990.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:39:51.149Z,1628987991.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:39:51.149Z,1628987991.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:39:51.149Z,1628987991.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:39:51.150Z,1628987991.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:39:51.549Z,1628987991.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,02503,186,80,80,76,FF
2021-08-15T00:39:51.549Z,1628987991.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:39:51.549Z,1628987991.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:39:51.551Z,1628987991.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:39:51.976Z,1628987991.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:39:52.763Z,1628987992.763 [Micromodem](INFO): Nmea in: $SNTTA,0.351373,0.463617,,,003952.78*5D

2021-08-15T00:39:53.177Z,1628987993.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,024C8,187,80,80,9F,FF
2021-08-15T00:39:53.177Z,1628987993.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:39:53.612Z,1628987993.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 527.459961 m, bearing: 220.150726 deg, deltaT: 5.262851 s, approachRate: -0.672647 m/s, LOS rate: -0.110760 deg/s, posRepo size: 4
2021-08-15T00:39:53.614Z,1628987993.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 527.459961 m,
      bearing: 220.150726 deg,
      approachRate: -0.672647 m/s,
      LOS rate: -0.110760 deg/s,
      cmd update: -0.443042 deg/s,
      cmd heading: 208.712508 deg,
      new cmd heading: 209.006797 deg.

2021-08-15T00:39:56.051Z,1628987996.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:39:56.405Z,1628987996.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:39:56.405Z,1628987996.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:39:56.405Z,1628987996.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:39:56.406Z,1628987996.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:39:56.809Z,1628987996.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,024C8,187,80,80,9F,FF
2021-08-15T00:39:56.809Z,1628987996.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:39:56.810Z,1628987996.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:39:56.811Z,1628987996.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:39:57.231Z,1628987997.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:39:58.041Z,1628987998.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,01177,186,80,80,85,FF
2021-08-15T00:39:58.041Z,1628987998.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:39:58.068Z,1628987998.068 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003958.04*5D

2021-08-15T00:39:58.455Z,1628987998.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 230.759979 m, bearing: 219.710452 deg, deltaT: 4.871864 s, approachRate: -60.900711 m/s, LOS rate: -0.090371 deg/s, posRepo size: 4
2021-08-15T00:39:58.458Z,1628987998.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.759979 m,
      bearing: 219.710452 deg,
      approachRate: -60.900711 m/s,
      LOS rate: -0.090371 deg/s,
      cmd update: -0.361483 deg/s,
      cmd heading: 206.549582 deg,
      new cmd heading: 206.398338 deg.

2021-08-15T00:40:00.943Z,1628988000.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:40:01.253Z,1628988001.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:40:01.253Z,1628988001.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:40:01.253Z,1628988001.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:40:01.254Z,1628988001.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:40:01.657Z,1628988001.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,01177,186,80,80,85,FF
2021-08-15T00:40:01.657Z,1628988001.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:40:01.657Z,1628988001.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:40:01.659Z,1628988001.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:40:02.061Z,1628988002.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:40:02.917Z,1628988002.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,000,01A24,187,80,80,87,FF
2021-08-15T00:40:02.917Z,1628988002.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:40:02.924Z,1628988002.924 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004002.89*59

2021-08-15T00:40:03.315Z,1628988003.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 364.019989 m, bearing: 219.243239 deg, deltaT: 4.909526 s, approachRate: 27.143152 m/s, LOS rate: -0.095164 deg/s, posRepo size: 4
2021-08-15T00:40:03.318Z,1628988003.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 364.019989 m,
      bearing: 219.243239 deg,
      approachRate: 27.143152 m/s,
      LOS rate: -0.095164 deg/s,
      cmd update: -0.380658 deg/s,
      cmd heading: 204.776429 deg,
      new cmd heading: 204.669333 deg.

2021-08-15T00:40:05.719Z,1628988005.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:40:06.089Z,1628988006.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:40:06.089Z,1628988006.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:40:06.089Z,1628988006.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:40:06.090Z,1628988006.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:40:06.497Z,1628988006.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F71,000,01A24,187,80,80,87,FF
2021-08-15T00:40:06.497Z,1628988006.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:40:06.497Z,1628988006.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:40:06.499Z,1628988006.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:40:06.915Z,1628988006.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:40:07.730Z,1628988007.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004007.73*59

2021-08-15T00:40:08.539Z,1628988008.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:40:10.129Z,1628988010.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,87,FF
2021-08-15T00:40:10.129Z,1628988010.129 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,87,FF
2021-08-15T00:40:10.130Z,1628988010.130 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:40:11.058Z,1628988011.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:40:11.345Z,1628988011.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:40:11.345Z,1628988011.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:40:11.345Z,1628988011.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:40:11.346Z,1628988011.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:40:11.749Z,1628988011.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,87,FF
2021-08-15T00:40:11.749Z,1628988011.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:40:11.750Z,1628988011.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:40:11.751Z,1628988011.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:40:12.164Z,1628988012.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:40:12.986Z,1628988012.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004012.98*58

2021-08-15T00:40:13.369Z,1628988013.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,023E3,186,80,80,70,FF
2021-08-15T00:40:13.370Z,1628988013.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:40:13.804Z,1628988013.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 513.720032 m, bearing: 218.319634 deg, deltaT: 10.391465 s, approachRate: 14.406057 m/s, LOS rate: -0.088881 deg/s, posRepo size: 4
2021-08-15T00:40:13.806Z,1628988013.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 513.720032 m,
      bearing: 218.319634 deg,
      approachRate: 14.406057 m/s,
      LOS rate: -0.088881 deg/s,
      cmd update: -0.355525 deg/s,
      cmd heading: 200.828362 deg,
      new cmd heading: 200.671273 deg.

2021-08-15T00:40:16.269Z,1628988016.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:40:16.601Z,1628988016.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:40:16.601Z,1628988016.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:40:16.601Z,1628988016.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:40:16.602Z,1628988016.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:40:17.005Z,1628988017.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,023E3,186,80,80,70,FF
2021-08-15T00:40:17.005Z,1628988017.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:40:17.005Z,1628988017.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:40:17.007Z,1628988017.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:40:17.413Z,1628988017.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:40:18.239Z,1628988018.239 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004018.23*52

2021-08-15T00:40:18.622Z,1628988018.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,023AC,186,80,80,6D,FF
2021-08-15T00:40:18.622Z,1628988018.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:40:19.113Z,1628988019.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 510.419983 m, bearing: 219.687407 deg, deltaT: 5.236152 s, approachRate: -0.630243 m/s, LOS rate: 0.261217 deg/s, posRepo size: 4
2021-08-15T00:40:19.115Z,1628988019.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 510.419983 m,
      bearing: 219.687407 deg,
      approachRate: -0.630243 m/s,
      LOS rate: 0.261217 deg/s,
      cmd update: 1.044869 deg/s,
      cmd heading: 198.960827 deg,
      new cmd heading: 198.795629 deg.

2021-08-15T00:40:21.493Z,1628988021.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:40:21.845Z,1628988021.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:40:21.845Z,1628988021.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:40:21.845Z,1628988021.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:40:21.846Z,1628988021.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:40:22.265Z,1628988022.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,023AC,186,80,80,6D,FF
2021-08-15T00:40:22.265Z,1628988022.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:40:22.266Z,1628988022.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:40:22.267Z,1628988022.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:40:22.703Z,1628988022.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:40:23.507Z,1628988023.507 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004023.49*56

2021-08-15T00:40:23.893Z,1628988023.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,02372,187,80,80,4F,FF
2021-08-15T00:40:23.894Z,1628988023.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:40:24.311Z,1628988024.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 506.940002 m, bearing: 219.464838 deg, deltaT: 5.335570 s, approachRate: -0.652223 m/s, LOS rate: -0.041714 deg/s, posRepo size: 4
2021-08-15T00:40:24.314Z,1628988024.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 506.940002 m,
      bearing: 219.464838 deg,
      approachRate: -0.652223 m/s,
      LOS rate: -0.041714 deg/s,
      cmd update: -0.166856 deg/s,
      cmd heading: 204.538623 deg,
      new cmd heading: 204.882679 deg.

2021-08-15T00:40:26.812Z,1628988026.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:40:27.113Z,1628988027.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:40:27.113Z,1628988027.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:40:27.113Z,1628988027.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:40:27.114Z,1628988027.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:40:27.516Z,1628988027.516 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,02372,187,80,80,4F,FF
2021-08-15T00:40:27.517Z,1628988027.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:40:27.517Z,1628988027.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:40:27.518Z,1628988027.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:40:27.948Z,1628988027.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:40:28.779Z,1628988028.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,02336,187,80,80,4F,FF
2021-08-15T00:40:28.782Z,1628988028.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:40:28.786Z,1628988028.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004028.75*52

2021-08-15T00:40:29.169Z,1628988029.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 503.339996 m, bearing: 218.750455 deg, deltaT: 4.818742 s, approachRate: -0.747084 m/s, LOS rate: -0.148251 deg/s, posRepo size: 4
2021-08-15T00:40:29.171Z,1628988029.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 503.339996 m,
      bearing: 218.750455 deg,
      approachRate: -0.747084 m/s,
      LOS rate: -0.148251 deg/s,
      cmd update: -0.593004 deg/s,
      cmd heading: 203.734041 deg,
      new cmd heading: 203.673161 deg.

2021-08-15T00:40:31.571Z,1628988031.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:40:31.978Z,1628988031.978 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:40:31.978Z,1628988031.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:40:31.978Z,1628988031.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:40:31.979Z,1628988031.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:40:32.365Z,1628988032.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,02336,187,80,80,4F,FF
2021-08-15T00:40:32.365Z,1628988032.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:40:32.365Z,1628988032.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:40:32.367Z,1628988032.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:40:32.779Z,1628988032.779 [Micromodem](INFO): Nmea in: $CAR
$SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:40:32.779Z,1628988032.779 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAR
$SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B
 expected 15
2021-08-15T00:40:32.779Z,1628988032.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:40:32.784Z,1628988032.784 [Micromodem](INFO): Nmea in: $CATXP,40*76

2021-08-15T00:40:32.786Z,1628988032.786 [Micromodem](ERROR): Response from modem unexpected: $CATXP,40*76

2021-08-15T00:40:33.166Z,1628988033.166 [Micromodem](INFO): Nmea in: $CATXF,40*60

2021-08-15T00:40:33.166Z,1628988033.166 [Micromodem](ERROR): Response from modem unexpected: $CATXF,40*60

2021-08-15T00:40:33.169Z,1628988033.169 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,004033.601772,3,0,40,4000,14500,1,19829,28005,0,2,0,3,0,14500*63

2021-08-15T00:40:33.170Z,1628988033.170 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,004033.601772,3,0,40,4000,14500,1,19829,28005,0,2,0,3,0,14500*63

2021-08-15T00:40:33.598Z,1628988033.598 [Micromodem](INFO): Nmea in: $CAERR,004033,NI  ,29,Busy completing a previous request*7F

2021-08-15T00:40:33.598Z,1628988033.598 [Micromodem](ERROR): Got error from modem: $CAERR,004033,NI  ,29,Busy completing a previous request*7F

2021-08-15T00:40:33.600Z,1628988033.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004033.60*5C

2021-08-15T00:40:33.600Z,1628988033.600 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,004033.60*5C

2021-08-15T00:40:33.977Z,1628988033.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,02300,186,80,80,63,FF
2021-08-15T00:40:33.977Z,1628988033.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:40:34.434Z,1628988034.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 500.099976 m, bearing: 217.542194 deg, deltaT: 5.225595 s, approachRate: -0.620029 m/s, LOS rate: -0.231220 deg/s, posRepo size: 4
2021-08-15T00:40:34.436Z,1628988034.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 500.099976 m,
      bearing: 217.542194 deg,
      approachRate: -0.620029 m/s,
      LOS rate: -0.231220 deg/s,
      cmd update: -0.924879 deg/s,
      cmd heading: 200.636836 deg,
      new cmd heading: 200.395408 deg.

2021-08-15T00:40:36.862Z,1628988036.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:40:37.201Z,1628988037.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:40:37.201Z,1628988037.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:40:37.201Z,1628988037.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:40:37.202Z,1628988037.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:40:37.614Z,1628988037.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,02300,186,80,80,63,FF
2021-08-15T00:40:37.615Z,1628988037.615 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:40:37.615Z,1628988037.615 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:40:39.662Z,1628988039.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:40:42.490Z,1628988042.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:40:43.280Z,1628988043.280 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.078013
2021-08-15T00:40:44.070Z,1628988044.070 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:40:44.485Z,1628988044.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:40:44.886Z,1628988044.886 [Micromodem](INFO): Nmea in: $SNTTA,0.204824,0.202824,,,004045.30*5E

2021-08-15T00:40:44.998Z,1628988044.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:40:45.282Z,1628988045.282 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:40:45.282Z,1628988045.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:40:45.283Z,1628988045.283 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:40:45.283Z,1628988045.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:40:45.689Z,1628988045.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,02300,186,80,80,63,FF
2021-08-15T00:40:45.689Z,1628988045.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:40:45.689Z,1628988045.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:40:45.691Z,1628988045.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:40:46.089Z,1628988046.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:40:46.941Z,1628988046.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,0226A,186,80,80,63,FF
2021-08-15T00:40:46.942Z,1628988046.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:40:46.946Z,1628988046.946 [Micromodem](INFO): Nmea in: $SNTTA,0.329928,,,,004046.92*46

2021-08-15T00:40:47.346Z,1628988047.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 491.100006 m, bearing: 220.501743 deg, deltaT: 13.002322 s, approachRate: -0.692182 m/s, LOS rate: 0.227617 deg/s, posRepo size: 4
2021-08-15T00:40:47.352Z,1628988047.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 491.100006 m,
      bearing: 220.501743 deg,
      approachRate: -0.692182 m/s,
      LOS rate: 0.227617 deg/s,
      cmd update: 0.910468 deg/s,
      cmd heading: 188.608312 deg,
      new cmd heading: 188.318536 deg.

2021-08-15T00:40:49.758Z,1628988049.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:40:50.137Z,1628988050.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:40:50.137Z,1628988050.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:40:50.137Z,1628988050.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:40:50.138Z,1628988050.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:40:50.533Z,1628988050.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,0226A,186,80,80,63,FF
2021-08-15T00:40:50.533Z,1628988050.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:40:50.533Z,1628988050.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:40:50.535Z,1628988050.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:40:50.968Z,1628988050.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:40:51.774Z,1628988051.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAA,000,0226A,186,80,80,63,FF
2021-08-15T00:40:51.775Z,1628988051.775 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:40:51.779Z,1628988051.779 [Micromodem](INFO): Nmea in: $SNTTA,0.327940,,,,004051.76*4A

2021-08-15T00:40:52.206Z,1628988052.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 491.100006 m, bearing: 225.548050 deg, deltaT: 4.766326 s, approachRate: 0.000000 m/s, LOS rate: 1.058742 deg/s, posRepo size: 4
2021-08-15T00:40:52.209Z,1628988052.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 491.100006 m,
      bearing: 225.548050 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.058742 deg/s,
      cmd update: 4.234967 deg/s,
      cmd heading: 192.947287 deg,
      new cmd heading: 193.317796 deg.

2021-08-15T00:40:54.608Z,1628988054.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:40:54.982Z,1628988054.982 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:40:54.983Z,1628988054.983 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:40:54.983Z,1628988054.983 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:40:54.984Z,1628988054.984 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:40:55.381Z,1628988055.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAA,000,0226A,186,80,80,63,FF
2021-08-15T00:40:55.381Z,1628988055.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:40:55.381Z,1628988055.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:40:55.383Z,1628988055.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:40:55.788Z,1628988055.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:40:56.641Z,1628988056.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E43,000,02206,186,80,80,61,FF
2021-08-15T00:40:56.642Z,1628988056.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:40:56.649Z,1628988056.649 [Micromodem](INFO): Nmea in: $SNTTA,0.325899,,,,004056.61*4C

2021-08-15T00:40:57.059Z,1628988057.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 485.099976 m, bearing: 222.665041 deg, deltaT: 4.935383 s, approachRate: -1.215717 m/s, LOS rate: -0.584151 deg/s, posRepo size: 4
2021-08-15T00:40:57.062Z,1628988057.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 485.099976 m,
      bearing: 222.665041 deg,
      approachRate: -1.215717 m/s,
      LOS rate: -0.584151 deg/s,
      cmd update: -2.336604 deg/s,
      cmd heading: 213.837416 deg,
      new cmd heading: 215.228340 deg.

2021-08-15T00:40:59.459Z,1628988059.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:40:59.829Z,1628988059.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:40:59.829Z,1628988059.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:40:59.829Z,1628988059.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:40:59.830Z,1628988059.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:41:00.243Z,1628988060.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E43,000,02206,186,80,80,61,FF
2021-08-15T00:41:00.243Z,1628988060.243 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:41:00.243Z,1628988060.243 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:41:00.245Z,1628988060.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:41:00.646Z,1628988060.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:41:01.466Z,1628988061.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,02206,186,80,80,61,FF
2021-08-15T00:41:01.466Z,1628988061.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:41:01.470Z,1628988061.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004101.47*59

2021-08-15T00:41:01.919Z,1628988061.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 485.099976 m, bearing: 219.076419 deg, deltaT: 4.761683 s, approachRate: 0.000000 m/s, LOS rate: -0.753646 deg/s, posRepo size: 4
2021-08-15T00:41:01.925Z,1628988061.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 485.099976 m,
      bearing: 219.076419 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.753646 deg/s,
      cmd update: -3.014583 deg/s,
      cmd heading: 202.705742 deg,
      new cmd heading: 201.714900 deg.

2021-08-15T00:41:04.321Z,1628988064.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:41:04.681Z,1628988064.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:41:04.681Z,1628988064.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:41:04.682Z,1628988064.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:41:04.692Z,1628988064.692 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:41:05.087Z,1628988065.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,02206,186,80,80,61,FF
2021-08-15T00:41:05.087Z,1628988065.087 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:41:05.087Z,1628988065.087 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:41:05.089Z,1628988065.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:41:05.483Z,1628988065.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:41:06.313Z,1628988066.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,0219C,186,80,80,61,FF
2021-08-15T00:41:06.314Z,1628988066.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:41:06.318Z,1628988066.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004106.32*5C

2021-08-15T00:41:06.809Z,1628988066.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 478.739990 m, bearing: 218.348321 deg, deltaT: 4.886112 s, approachRate: -1.301645 m/s, LOS rate: -0.149014 deg/s, posRepo size: 4
2021-08-15T00:41:06.811Z,1628988066.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 478.739990 m,
      bearing: 218.348321 deg,
      approachRate: -1.301645 m/s,
      LOS rate: -0.149014 deg/s,
      cmd update: -0.596055 deg/s,
      cmd heading: 187.984489 deg,
      new cmd heading: 186.686383 deg.

2021-08-15T00:41:09.173Z,1628988069.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:41:09.529Z,1628988069.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:41:09.529Z,1628988069.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:41:09.530Z,1628988069.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:41:09.531Z,1628988069.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:41:09.949Z,1628988069.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,0219C,186,80,80,61,FF
2021-08-15T00:41:09.949Z,1628988069.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:41:09.949Z,1628988069.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:41:09.951Z,1628988069.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:41:10.336Z,1628988070.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:41:11.157Z,1628988071.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,0219C,186,80,80,61,FF
2021-08-15T00:41:11.158Z,1628988071.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:41:11.161Z,1628988071.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004111.18*52

2021-08-15T00:41:11.587Z,1628988071.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 478.739990 m, bearing: 217.074764 deg, deltaT: 4.846151 s, approachRate: 0.000000 m/s, LOS rate: -0.262798 deg/s, posRepo size: 4
2021-08-15T00:41:11.590Z,1628988071.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 478.739990 m,
      bearing: 217.074764 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.262798 deg/s,
      cmd update: -1.051191 deg/s,
      cmd heading: 185.099671 deg,
      new cmd heading: 184.879590 deg.

2021-08-15T00:41:14.007Z,1628988074.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:41:14.373Z,1628988074.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:41:14.373Z,1628988074.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:41:14.373Z,1628988074.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:41:14.374Z,1628988074.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:41:14.777Z,1628988074.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,0219C,186,80,80,61,FF
2021-08-15T00:41:14.777Z,1628988074.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:41:14.777Z,1628988074.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:41:14.779Z,1628988074.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:41:15.188Z,1628988075.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:41:16.014Z,1628988076.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004116.01*5D

2021-08-15T00:41:16.844Z,1628988076.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:41:18.413Z,1628988078.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,61,FF
2021-08-15T00:41:18.413Z,1628988078.413 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,61,FF
2021-08-15T00:41:18.413Z,1628988078.413 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:41:19.654Z,1628988079.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:41:20.053Z,1628988080.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:41:20.053Z,1628988080.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:41:20.053Z,1628988080.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:41:20.054Z,1628988080.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:41:20.433Z,1628988080.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,61,FF
2021-08-15T00:41:20.433Z,1628988080.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:41:20.433Z,1628988080.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:41:20.435Z,1628988080.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:41:20.845Z,1628988080.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:41:21.686Z,1628988081.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE1,000,01493,189,80,80,57,FF
2021-08-15T00:41:21.686Z,1628988081.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:41:21.689Z,1628988081.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004121.66*58

2021-08-15T00:41:22.102Z,1628988082.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 278.519989 m, bearing: 222.906270 deg, deltaT: 10.476271 s, approachRate: -19.111763 m/s, LOS rate: 0.556639 deg/s, posRepo size: 4
2021-08-15T00:41:22.108Z,1628988082.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 278.519989 m,
      bearing: 222.906270 deg,
      approachRate: -19.111763 m/s,
      LOS rate: 0.556639 deg/s,
      cmd update: 2.226558 deg/s,
      cmd heading: 174.075972 deg,
      new cmd heading: 173.659274 deg.

2021-08-15T00:41:24.506Z,1628988084.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:41:24.896Z,1628988084.896 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:41:24.897Z,1628988084.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:41:24.898Z,1628988084.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:41:24.899Z,1628988084.899 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:41:25.285Z,1628988085.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE1,000,01493,189,80,80,57,FF
2021-08-15T00:41:25.285Z,1628988085.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:41:25.285Z,1628988085.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:41:25.287Z,1628988085.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:41:25.689Z,1628988085.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:41:26.517Z,1628988086.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C9C,000,020D4,189,80,80,57,FF
2021-08-15T00:41:26.518Z,1628988086.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:41:26.522Z,1628988086.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004126.52*58

2021-08-15T00:41:26.987Z,1628988086.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 466.739990 m, bearing: 224.930752 deg, deltaT: 4.861533 s, approachRate: 38.716183 m/s, LOS rate: 0.416429 deg/s, posRepo size: 4
2021-08-15T00:41:26.989Z,1628988086.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 466.739990 m,
      bearing: 224.930752 deg,
      approachRate: 38.716183 m/s,
      LOS rate: 0.416429 deg/s,
      cmd update: 1.665715 deg/s,
      cmd heading: 184.891829 deg,
      new cmd heading: 185.835634 deg.

2021-08-15T00:41:29.342Z,1628988089.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:41:29.737Z,1628988089.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:41:29.737Z,1628988089.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:41:29.737Z,1628988089.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:41:29.738Z,1628988089.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:41:30.141Z,1628988090.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C9C,000,020D4,189,80,80,57,FF
2021-08-15T00:41:30.142Z,1628988090.142 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:41:30.142Z,1628988090.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:41:30.143Z,1628988090.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:41:30.549Z,1628988090.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:41:30.961Z,1628988090.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C1,000,00489,186,80,80,60,FF
2021-08-15T00:41:30.962Z,1628988090.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:41:31.381Z,1628988091.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004131.37*5D

2021-08-15T00:41:31.404Z,1628988091.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.160004 m, bearing: 165.982326 deg, deltaT: 4.485485 s, approachRate: -96.885841 m/s, LOS rate: -13.142040 deg/s, posRepo size: 4
2021-08-15T00:41:31.404Z,1628988091.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.16 m.
2021-08-15T00:41:31.405Z,1628988091.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.142040 deg/s. Setting heading cmd to target bearing of 165.982326deg and heading rate command to 0 deg/s.
2021-08-15T00:41:31.806Z,1628988091.806 [PowerOnly](INFO): Powering up loadControl
2021-08-15T00:41:31.851Z,1628988091.851 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T00:41:31.851Z,1628988091.851 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:41:31.855Z,1628988091.855 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T00:41:31.857Z,1628988091.857 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T00:41:31.857Z,1628988091.857 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T00:41:31.857Z,1628988091.857 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T00:41:32.238Z,1628988092.238 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T00:41:32.238Z,1628988092.238 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:41:32.238Z,1628988092.238 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T00:41:32.239Z,1628988092.239 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:41:33.840Z,1628988093.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:41:34.181Z,1628988094.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:41:34.181Z,1628988094.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:41:34.181Z,1628988094.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:41:34.182Z,1628988094.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:41:34.573Z,1628988094.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C1,000,00489,186,80,80,60,FF
2021-08-15T00:41:34.573Z,1628988094.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:41:34.573Z,1628988094.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:41:34.575Z,1628988094.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:41:35.002Z,1628988095.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:41:35.810Z,1628988095.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004135.80*55

2021-08-15T00:41:36.639Z,1628988096.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:41:38.214Z,1628988098.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,60,FF
2021-08-15T00:41:38.214Z,1628988098.214 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,60,FF
2021-08-15T00:41:38.214Z,1628988098.214 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:41:39.460Z,1628988099.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:41:39.829Z,1628988099.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:41:39.829Z,1628988099.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:41:39.829Z,1628988099.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:41:39.830Z,1628988099.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:41:40.245Z,1628988100.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,60,FF
2021-08-15T00:41:40.245Z,1628988100.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:41:40.245Z,1628988100.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:41:40.246Z,1628988100.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:41:40.648Z,1628988100.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:41:41.462Z,1628988101.462 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004141.47*5D

2021-08-15T00:41:42.314Z,1628988102.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:41:43.885Z,1628988103.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,60,FF
2021-08-15T00:41:43.886Z,1628988103.886 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,60,FF
2021-08-15T00:41:43.887Z,1628988103.887 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:41:45.131Z,1628988105.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:41:45.485Z,1628988105.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:41:45.485Z,1628988105.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:41:45.485Z,1628988105.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:41:45.486Z,1628988105.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:41:45.909Z,1628988105.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,60,FF
2021-08-15T00:41:45.909Z,1628988105.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:41:45.909Z,1628988105.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:41:45.911Z,1628988105.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:41:46.302Z,1628988106.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:41:47.521Z,1628988107.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BAA,000,0201C,189,80,80,74,FF
2021-08-15T00:41:47.522Z,1628988107.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:41:47.524Z,1628988107.524 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004147.19*50

2021-08-15T00:41:47.575Z,1628988107.575 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:41:47.984Z,1628988107.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 455.699982 m, bearing: 220.822939 deg, deltaT: 16.524570 s, approachRate: 25.630922 m/s, LOS rate: 3.318732 deg/s, posRepo size: 4
2021-08-15T00:41:47.986Z,1628988107.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 455.699982 m,
      bearing: 220.822939 deg,
      approachRate: 25.630922 m/s,
      LOS rate: 3.318732 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 165.982326 deg,
      new cmd heading: 165.982326 deg.

2021-08-15T00:41:48.346Z,1628988108.346 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T00:41:48.346Z,1628988108.346 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:41:48.346Z,1628988108.346 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T00:41:48.347Z,1628988108.347 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T00:41:48.347Z,1628988108.347 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T00:41:48.347Z,1628988108.347 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T00:41:48.825Z,1628988108.825 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T00:41:48.825Z,1628988108.825 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:41:48.825Z,1628988108.825 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T00:41:48.825Z,1628988108.825 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:41:50.360Z,1628988110.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:41:50.778Z,1628988110.778 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:41:50.779Z,1628988110.779 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:41:50.779Z,1628988110.779 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:41:50.792Z,1628988110.792 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:41:51.161Z,1628988111.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BAA,000,0201C,189,80,80,74,FF
2021-08-15T00:41:51.161Z,1628988111.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:41:51.161Z,1628988111.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:41:51.163Z,1628988111.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:41:51.565Z,1628988111.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:41:52.378Z,1628988112.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004152.39*56

2021-08-15T00:41:53.181Z,1628988113.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD7,000,04411,189,80,80,91,FF
2021-08-15T00:41:53.182Z,1628988113.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:41:53.608Z,1628988113.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1008.000061 m, bearing: 212.141441 deg, deltaT: 5.661453 s, approachRate: 97.554474 m/s, LOS rate: -1.533440 deg/s, posRepo size: 4
2021-08-15T00:41:53.610Z,1628988113.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1008.000061 m,
      bearing: 212.141441 deg,
      approachRate: 97.554474 m/s,
      LOS rate: -1.533440 deg/s,
      cmd update: -6.133760 deg/s,
      cmd heading: 233.704652 deg,
      new cmd heading: 238.455752 deg.

2021-08-15T00:41:56.042Z,1628988116.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:41:56.414Z,1628988116.414 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:41:56.414Z,1628988116.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:41:56.414Z,1628988116.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:41:56.415Z,1628988116.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:41:56.822Z,1628988116.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD7,000,04411,189,80,80,91,FF
2021-08-15T00:41:56.822Z,1628988116.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:41:56.822Z,1628988116.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:41:56.824Z,1628988116.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:41:57.222Z,1628988117.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:41:58.030Z,1628988118.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22A,000,01FC7,188,80,80,91,FF
2021-08-15T00:41:58.031Z,1628988118.031 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:41:58.060Z,1628988118.060 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004158.05*53

2021-08-15T00:41:58.447Z,1628988118.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 450.599976 m, bearing: 161.244224 deg, deltaT: 4.867935 s, approachRate: -114.504425 m/s, LOS rate: -10.455607 deg/s, posRepo size: 4
2021-08-15T00:41:58.450Z,1628988118.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 450.599976 m,
      bearing: 161.244224 deg,
      approachRate: -114.504425 m/s,
      LOS rate: -10.455607 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 203.682135 deg,
      new cmd heading: 201.589744 deg.

2021-08-15T00:42:00.940Z,1628988120.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:42:01.250Z,1628988121.250 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:42:01.250Z,1628988121.250 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:42:01.250Z,1628988121.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:42:01.251Z,1628988121.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:42:01.649Z,1628988121.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22A,000,01FC7,188,80,80,91,FF
2021-08-15T00:42:01.649Z,1628988121.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:42:01.649Z,1628988121.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:42:01.651Z,1628988121.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:42:02.060Z,1628988122.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:42:02.883Z,1628988122.883 [Micromodem](INFO): Nmea in: $SNTTA,0.452161,0.452130,,,004202.88*5E

2021-08-15T00:42:03.725Z,1628988123.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:42:05.689Z,1628988125.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,098DB,187,80,80,A6,FF
2021-08-15T00:42:05.690Z,1628988125.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:42:06.177Z,1628988126.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2310.360107 m, bearing: 221.032954 deg, deltaT: 7.600471 s, approachRate: 244.690109 m/s, LOS rate: 7.866451 deg/s, posRepo size: 4
2021-08-15T00:42:06.179Z,1628988126.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2310.360107 m,
      bearing: 221.032954 deg,
      approachRate: 244.690109 m/s,
      LOS rate: 7.866451 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 112.477080 deg,
      new cmd heading: 106.839612 deg.

2021-08-15T00:42:08.546Z,1628988128.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:42:08.949Z,1628988128.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:42:08.949Z,1628988128.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:42:08.949Z,1628988128.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:42:08.950Z,1628988128.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:42:09.322Z,1628988129.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,098DB,187,80,80,A6,FF
2021-08-15T00:42:09.322Z,1628988129.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:42:09.322Z,1628988129.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:42:09.323Z,1628988129.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:42:09.733Z,1628988129.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:42:10.563Z,1628988130.563 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004210.55*59

2021-08-15T00:42:11.049Z,1628988131.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:42:12.961Z,1628988132.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,187,80,80,A6,FF
2021-08-15T00:42:12.962Z,1628988132.962 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,187,80,80,A6,FF
2021-08-15T00:42:12.962Z,1628988132.962 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:42:13.787Z,1628988133.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:42:14.177Z,1628988134.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:42:14.177Z,1628988134.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:42:14.177Z,1628988134.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:42:14.178Z,1628988134.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:42:14.583Z,1628988134.583 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,187,80,80,A6,FF
2021-08-15T00:42:14.583Z,1628988134.583 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:42:14.583Z,1628988134.583 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:42:14.585Z,1628988134.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:42:14.984Z,1628988134.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:42:15.845Z,1628988135.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BC0,000,01F26,18A,80,80,88,FF
2021-08-15T00:42:15.846Z,1628988135.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:42:15.853Z,1628988135.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004215.81*55

2021-08-15T00:42:16.281Z,1628988136.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 440.940002 m, bearing: 214.556637 deg, deltaT: 10.236659 s, approachRate: -182.620148 m/s, LOS rate: -0.632659 deg/s, posRepo size: 4
2021-08-15T00:42:16.283Z,1628988136.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 440.940002 m,
      bearing: 214.556637 deg,
      approachRate: -182.620148 m/s,
      LOS rate: -0.632659 deg/s,
      cmd update: -2.530637 deg/s,
      cmd heading: 235.261683 deg,
      new cmd heading: 239.321284 deg.

2021-08-15T00:42:18.669Z,1628988138.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:42:19.025Z,1628988139.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:42:19.025Z,1628988139.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:42:19.026Z,1628988139.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:42:19.027Z,1628988139.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:42:19.437Z,1628988139.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BC0,000,01F26,18A,80,80,88,FF
2021-08-15T00:42:19.438Z,1628988139.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:42:19.438Z,1628988139.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:42:19.439Z,1628988139.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:42:19.840Z,1628988139.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:42:20.246Z,1628988140.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CBF,000,00C4E,188,80,80,88,FF
2021-08-15T00:42:20.246Z,1628988140.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:42:20.694Z,1628988140.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004220.67*5B

2021-08-15T00:42:20.790Z,1628988140.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.500000 m, bearing: 212.216723 deg, deltaT: 4.356526 s, approachRate: -66.438255 m/s, LOS rate: -0.537105 deg/s, posRepo size: 4
2021-08-15T00:42:20.797Z,1628988140.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.500000 m,
      bearing: 212.216723 deg,
      approachRate: -66.438255 m/s,
      LOS rate: -0.537105 deg/s,
      cmd update: -2.148421 deg/s,
      cmd heading: 224.225700 deg,
      new cmd heading: 222.985004 deg.

2021-08-15T00:42:23.120Z,1628988143.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:42:23.473Z,1628988143.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:42:23.473Z,1628988143.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:42:23.473Z,1628988143.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:42:23.474Z,1628988143.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:42:23.880Z,1628988143.880 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CBF,000,00C4E,188,80,80,88,FF
2021-08-15T00:42:23.881Z,1628988143.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:42:23.881Z,1628988143.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:42:23.896Z,1628988143.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:42:24.280Z,1628988144.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:42:25.087Z,1628988145.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7E,000,01EE2,18A,80,80,88,FF
2021-08-15T00:42:25.088Z,1628988145.088 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:42:25.094Z,1628988145.094 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004225.13*5D

2021-08-15T00:42:25.531Z,1628988145.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 436.860016 m, bearing: 218.684694 deg, deltaT: 4.869188 s, approachRate: 58.605259 m/s, LOS rate: 1.328347 deg/s, posRepo size: 4
2021-08-15T00:42:25.533Z,1628988145.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 436.860016 m,
      bearing: 218.684694 deg,
      approachRate: 58.605259 m/s,
      LOS rate: 1.328347 deg/s,
      cmd update: 5.313387 deg/s,
      cmd heading: 213.781815 deg,
      new cmd heading: 212.987109 deg.

2021-08-15T00:42:27.970Z,1628988147.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:42:28.309Z,1628988148.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:42:28.309Z,1628988148.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:42:28.309Z,1628988148.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:42:28.310Z,1628988148.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:42:28.753Z,1628988148.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7E,000,01EE2,18A,80,80,88,FF
2021-08-15T00:42:28.753Z,1628988148.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:42:28.753Z,1628988148.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:42:28.755Z,1628988148.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:42:29.168Z,1628988149.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:42:29.998Z,1628988149.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,01EB7,186,80,80,A0,FF
2021-08-15T00:42:29.998Z,1628988149.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:42:30.001Z,1628988150.001 [Micromodem](INFO): Nmea in: $SNTTA,0.291727,,,,004229.98*44

2021-08-15T00:42:30.415Z,1628988150.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 434.279999 m, bearing: 223.205760 deg, deltaT: 4.858491 s, approachRate: -0.531033 m/s, LOS rate: 0.930549 deg/s, posRepo size: 4
2021-08-15T00:42:30.417Z,1628988150.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 434.279999 m,
      bearing: 223.205760 deg,
      approachRate: -0.531033 m/s,
      LOS rate: 0.930549 deg/s,
      cmd update: 3.722198 deg/s,
      cmd heading: 239.640567 deg,
      new cmd heading: 241.697469 deg.

2021-08-15T00:42:32.843Z,1628988152.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:42:33.201Z,1628988153.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:42:33.201Z,1628988153.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:42:33.202Z,1628988153.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:42:33.203Z,1628988153.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:42:33.605Z,1628988153.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,01EB7,186,80,80,A0,FF
2021-08-15T00:42:33.605Z,1628988153.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:42:33.605Z,1628988153.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:42:33.607Z,1628988153.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:42:34.010Z,1628988154.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:42:34.834Z,1628988154.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,075,000,01E84,186,80,80,A1,FF
2021-08-15T00:42:34.834Z,1628988154.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:42:34.837Z,1628988154.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004234.84*53

2021-08-15T00:42:35.268Z,1628988155.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 431.220001 m, bearing: 218.759894 deg, deltaT: 4.906167 s, approachRate: -0.623704 m/s, LOS rate: -0.906179 deg/s, posRepo size: 4
2021-08-15T00:42:35.270Z,1628988155.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 431.220001 m,
      bearing: 218.759894 deg,
      approachRate: -0.623704 m/s,
      LOS rate: -0.906179 deg/s,
      cmd update: -3.624716 deg/s,
      cmd heading: 257.868650 deg,
      new cmd heading: 259.146860 deg.

2021-08-15T00:42:37.667Z,1628988157.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:42:38.049Z,1628988158.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:42:38.049Z,1628988158.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:42:38.049Z,1628988158.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:42:38.050Z,1628988158.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:42:38.188Z,1628988158.188 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-15T00:42:38.461Z,1628988158.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
075,000,01E84,186,80,80,A1,FF
2021-08-15T00:42:38.462Z,1628988158.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:42:38.462Z,1628988158.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:42:38.463Z,1628988158.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:42:38.876Z,1628988158.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:42:38.978Z,1628988158.978 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T00:42:39.685Z,1628988159.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,01E54,189,80,80,81,FF
2021-08-15T00:42:39.685Z,1628988159.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:42:39.688Z,1628988159.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004239.69*5D

2021-08-15T00:42:39.982Z,1628988159.982 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T00:42:40.118Z,1628988160.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 428.339966 m, bearing: 213.758160 deg, deltaT: 4.770094 s, approachRate: -0.603769 m/s, LOS rate: -1.048561 deg/s, posRepo size: 4
2021-08-15T00:42:40.120Z,1628988160.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 428.339966 m,
      bearing: 213.758160 deg,
      approachRate: -0.603769 m/s,
      LOS rate: -1.048561 deg/s,
      cmd update: -4.194243 deg/s,
      cmd heading: 240.545780 deg,
      new cmd heading: 239.045858 deg.

2021-08-15T00:42:40.986Z,1628988160.986 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T00:42:41.990Z,1628988161.990 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T00:42:42.531Z,1628988162.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:42:42.921Z,1628988162.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:42:42.921Z,1628988162.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:42:42.921Z,1628988162.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:42:42.922Z,1628988162.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:42:42.994Z,1628988162.994 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T00:42:43.309Z,1628988163.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,01E54,189,80,80,81,FF
2021-08-15T00:42:43.309Z,1628988163.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:42:43.309Z,1628988163.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:42:43.311Z,1628988163.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:42:43.708Z,1628988163.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:42:43.998Z,1628988163.998 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T00:42:44.533Z,1628988164.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,01376,189,80,80,86,FF
2021-08-15T00:42:44.533Z,1628988164.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:42:44.536Z,1628988164.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004244.54*59

2021-08-15T00:42:45.002Z,1628988165.002 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T00:42:45.018Z,1628988165.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.419983 m, bearing: 212.353955 deg, deltaT: 4.872371 s, approachRate: -34.258472 m/s, LOS rate: -0.288197 deg/s, posRepo size: 4
2021-08-15T00:42:45.044Z,1628988165.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.419983 m,
      bearing: 212.353955 deg,
      approachRate: -34.258472 m/s,
      LOS rate: -0.288197 deg/s,
      cmd update: -1.152790 deg/s,
      cmd heading: 220.210788 deg,
      new cmd heading: 218.257227 deg.

2021-08-15T00:42:46.006Z,1628988166.006 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T00:42:47.010Z,1628988167.010 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T00:42:47.369Z,1628988167.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:42:47.745Z,1628988167.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:42:47.745Z,1628988167.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:42:47.745Z,1628988167.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:42:47.746Z,1628988167.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:42:48.014Z,1628988168.014 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T00:42:48.153Z,1628988168.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,01376,189,80,80,86,FF
2021-08-15T00:42:48.153Z,1628988168.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:42:48.153Z,1628988168.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:42:48.155Z,1628988168.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:42:48.574Z,1628988168.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:42:49.018Z,1628988169.018 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T00:42:49.163Z,1628988169.163 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006176
CHAN A1 (24V): -0.023943
CHAN A2 (12V): -0.005214
CHAN A3 (5V): -0.001563
CHAN B0 (3.3V): 0.000753
CHAN B1 (3.15aV): 0.000990
CHAN B2 (3.15bV): 0.000199
CHAN B3 (GND): 0.002080
OPEN: 0.006660
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-15T00:42:49.397Z,1628988169.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,01DF6,186,80,80,82,FF
2021-08-15T00:42:49.397Z,1628988169.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:42:49.420Z,1628988169.420 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004249.39*5F

2021-08-15T00:42:49.807Z,1628988169.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 422.700012 m, bearing: 219.652368 deg, deltaT: 4.859617 s, approachRate: 33.187805 m/s, LOS rate: 1.501849 deg/s, posRepo size: 4
2021-08-15T00:42:49.810Z,1628988169.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 422.700012 m,
      bearing: 219.652368 deg,
      approachRate: 33.187805 m/s,
      LOS rate: 1.501849 deg/s,
      cmd update: 6.007397 deg/s,
      cmd heading: 214.580931 deg,
      new cmd heading: 214.152658 deg.

2021-08-15T00:42:52.262Z,1628988172.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:42:52.601Z,1628988172.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:42:52.601Z,1628988172.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:42:52.601Z,1628988172.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:42:52.602Z,1628988172.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:42:53.009Z,1628988173.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,01DF6,186,80,80,82,FF
2021-08-15T00:42:53.009Z,1628988173.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:42:53.009Z,1628988173.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:42:53.011Z,1628988173.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:42:53.422Z,1628988173.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:42:54.245Z,1628988174.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,01DC4,184,80,80,7C,FF
2021-08-15T00:42:54.246Z,1628988174.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:42:54.249Z,1628988174.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004254.24*5F

2021-08-15T00:42:54.725Z,1628988174.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 419.699982 m, bearing: 217.464918 deg, deltaT: 4.883463 s, approachRate: -0.614324 m/s, LOS rate: -0.447930 deg/s, posRepo size: 4
2021-08-15T00:42:54.727Z,1628988174.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 419.699982 m,
      bearing: 217.464918 deg,
      approachRate: -0.614324 m/s,
      LOS rate: -0.447930 deg/s,
      cmd update: -1.791720 deg/s,
      cmd heading: 243.893527 deg,
      new cmd heading: 246.327917 deg.

2021-08-15T00:42:57.113Z,1628988177.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:42:57.461Z,1628988177.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:42:57.461Z,1628988177.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:42:57.461Z,1628988177.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:42:57.462Z,1628988177.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:42:57.868Z,1628988177.868 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,01DC4,184,80,80,7C,FF
2021-08-15T00:42:57.869Z,1628988177.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:42:57.869Z,1628988177.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:42:57.875Z,1628988177.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:42:58.272Z,1628988178.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:42:59.096Z,1628988179.096 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,00F10,185,80,80,82,FF
2021-08-15T00:42:59.097Z,1628988179.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:42:59.099Z,1628988179.099 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004259.11*54

2021-08-15T00:42:59.514Z,1628988179.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.859985 m, bearing: 217.417079 deg, deltaT: 4.885367 s, approachRate: -46.227848 m/s, LOS rate: -0.009792 deg/s, posRepo size: 4
2021-08-15T00:42:59.516Z,1628988179.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.859985 m,
      bearing: 217.417079 deg,
      approachRate: -46.227848 m/s,
      LOS rate: -0.009792 deg/s,
      cmd update: -0.039169 deg/s,
      cmd heading: 235.149197 deg,
      new cmd heading: 234.578885 deg.

2021-08-15T00:43:02.041Z,1628988182.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:43:02.394Z,1628988182.394 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:43:02.394Z,1628988182.394 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:43:02.395Z,1628988182.395 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:43:02.395Z,1628988182.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:43:02.810Z,1628988182.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17D,000,00F10,185,80,80,82,FF
2021-08-15T00:43:02.810Z,1628988182.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:43:02.810Z,1628988182.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:43:02.811Z,1628988182.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:43:03.237Z,1628988183.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:43:04.045Z,1628988184.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,262,000,01D5C,189,80,80,86,FF
2021-08-15T00:43:04.045Z,1628988184.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:43:04.048Z,1628988184.048 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004304.04*59

2021-08-15T00:43:04.468Z,1628988184.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 413.459961 m, bearing: 212.390825 deg, deltaT: 4.922971 s, approachRate: 44.607204 m/s, LOS rate: -1.020980 deg/s, posRepo size: 4
2021-08-15T00:43:04.470Z,1628988184.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 413.459961 m,
      bearing: 212.390825 deg,
      approachRate: 44.607204 m/s,
      LOS rate: -1.020980 deg/s,
      cmd update: -4.083920 deg/s,
      cmd heading: 234.956173 deg,
      new cmd heading: 234.942704 deg.

2021-08-15T00:43:06.956Z,1628988186.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:43:07.257Z,1628988187.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:43:07.257Z,1628988187.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:43:07.257Z,1628988187.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:43:07.258Z,1628988187.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:43:07.653Z,1628988187.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
262,000,01D5C,189,80,80,86,FF
2021-08-15T00:43:07.653Z,1628988187.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:43:07.653Z,1628988187.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:43:07.655Z,1628988187.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:43:08.061Z,1628988188.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:43:08.917Z,1628988188.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,01D2C,187,80,80,6E,FF
2021-08-15T00:43:08.917Z,1628988188.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:43:08.925Z,1628988188.925 [Micromodem](INFO): Nmea in: $SNTTA,0.276417,,,,004308.88*4E

2021-08-15T00:43:09.337Z,1628988189.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 410.579987 m, bearing: 213.511495 deg, deltaT: 4.888318 s, approachRate: -0.589154 m/s, LOS rate: 0.229255 deg/s, posRepo size: 4
2021-08-15T00:43:09.339Z,1628988189.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 410.579987 m,
      bearing: 213.511495 deg,
      approachRate: -0.589154 m/s,
      LOS rate: 0.229255 deg/s,
      cmd update: 0.917019 deg/s,
      cmd heading: 215.041532 deg,
      new cmd heading: 213.687750 deg.

2021-08-15T00:43:11.713Z,1628988191.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:43:12.106Z,1628988192.106 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:43:12.106Z,1628988192.106 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:43:12.106Z,1628988192.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:43:12.107Z,1628988192.107 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:43:12.505Z,1628988192.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,01D2C,187,80,80,6E,FF
2021-08-15T00:43:12.505Z,1628988192.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:43:12.505Z,1628988192.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:43:12.507Z,1628988192.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:43:12.951Z,1628988192.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:43:13.745Z,1628988193.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,01CFA,186,80,80,91,FF
2021-08-15T00:43:13.745Z,1628988193.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:43:13.748Z,1628988193.748 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004313.74*58

2021-08-15T00:43:14.179Z,1628988194.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 407.579987 m, bearing: 217.108833 deg, deltaT: 4.747778 s, approachRate: -0.631875 m/s, LOS rate: 0.757689 deg/s, posRepo size: 4
2021-08-15T00:43:14.182Z,1628988194.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 407.579987 m,
      bearing: 217.108833 deg,
      approachRate: -0.631875 m/s,
      LOS rate: 0.757689 deg/s,
      cmd update: 3.030755 deg/s,
      cmd heading: 219.409945 deg,
      new cmd heading: 219.791112 deg.

2021-08-15T00:43:16.567Z,1628988196.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:43:16.953Z,1628988196.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:43:16.954Z,1628988196.954 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:43:16.954Z,1628988196.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:43:16.955Z,1628988196.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:43:17.349Z,1628988197.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,01CFA,186,80,80,91,FF
2021-08-15T00:43:17.349Z,1628988197.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:43:17.349Z,1628988197.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:43:17.351Z,1628988197.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:43:17.770Z,1628988197.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:43:18.175Z,1628988198.175 [Micromodem](INFO): Nmea in: $SNTTA,0.270973,0.270673,,,004318.58*52

2021-08-15T00:43:18.569Z,1628988198.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,01CC5,186,80,80,99,FF
2021-08-15T00:43:18.569Z,1628988198.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:43:19.048Z,1628988199.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 404.399994 m, bearing: 216.586870 deg, deltaT: 4.823513 s, approachRate: -0.659269 m/s, LOS rate: -0.108212 deg/s, posRepo size: 4
2021-08-15T00:43:19.050Z,1628988199.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 404.399994 m,
      bearing: 216.586870 deg,
      approachRate: -0.659269 m/s,
      LOS rate: -0.108212 deg/s,
      cmd update: -0.432849 deg/s,
      cmd heading: 234.028557 deg,
      new cmd heading: 235.424556 deg.

2021-08-15T00:43:21.412Z,1628988201.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:43:21.801Z,1628988201.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:43:21.801Z,1628988201.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:43:21.801Z,1628988201.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:43:21.802Z,1628988201.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:43:22.201Z,1628988202.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,01CC5,186,80,80,99,FF
2021-08-15T00:43:22.201Z,1628988202.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:43:22.201Z,1628988202.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:43:22.224Z,1628988202.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:43:22.613Z,1628988202.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:43:23.412Z,1628988203.412 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A4,000,01C8B,186,80,80,8E,FF
2021-08-15T00:43:23.413Z,1628988203.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:43:23.419Z,1628988203.419 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004323.46*5A

2021-08-15T00:43:23.843Z,1628988203.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 400.919983 m, bearing: 215.068191 deg, deltaT: 4.887993 s, approachRate: -0.711951 m/s, LOS rate: -0.310696 deg/s, posRepo size: 4
2021-08-15T00:43:23.847Z,1628988203.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 400.919983 m,
      bearing: 215.068191 deg,
      approachRate: -0.711951 m/s,
      LOS rate: -0.310696 deg/s,
      cmd update: -1.242783 deg/s,
      cmd heading: 231.914505 deg,
      new cmd heading: 231.753418 deg.

2021-08-15T00:43:26.319Z,1628988206.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:43:26.641Z,1628988206.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:43:26.641Z,1628988206.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:43:26.642Z,1628988206.642 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:43:26.643Z,1628988206.643 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:43:26.711Z,1628988206.711 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:43:27.045Z,1628988207.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A4,000,01C8B,186,80,80,8E,FF
2021-08-15T00:43:27.045Z,1628988207.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:43:27.045Z,1628988207.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:43:27.047Z,1628988207.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:43:27.452Z,1628988207.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:43:28.285Z,1628988208.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,01C5B,186,80,80,8A,FF
2021-08-15T00:43:28.285Z,1628988208.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:43:28.288Z,1628988208.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004328.28*59

2021-08-15T00:43:28.749Z,1628988208.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 398.040009 m, bearing: 213.019011 deg, deltaT: 4.888805 s, approachRate: -0.589096 m/s, LOS rate: -0.419158 deg/s, posRepo size: 4
2021-08-15T00:43:28.751Z,1628988208.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 398.040009 m,
      bearing: 213.019011 deg,
      approachRate: -0.589096 m/s,
      LOS rate: -0.419158 deg/s,
      cmd update: -1.676630 deg/s,
      cmd heading: 225.834315 deg,
      new cmd heading: 225.356157 deg.

2021-08-15T00:43:31.115Z,1628988211.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:43:31.485Z,1628988211.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:43:31.485Z,1628988211.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:43:31.485Z,1628988211.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:43:31.486Z,1628988211.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:43:31.909Z,1628988211.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,01C5B,186,80,80,8A,FF
2021-08-15T00:43:31.909Z,1628988211.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:43:31.909Z,1628988211.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:43:31.911Z,1628988211.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:43:32.309Z,1628988212.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:43:32.745Z,1628988212.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15B,000,00B79,186,80,80,4E,FF
2021-08-15T00:43:32.746Z,1628988212.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:43:33.141Z,1628988213.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004333.14*5C

2021-08-15T00:43:33.170Z,1628988213.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.720001 m, bearing: 213.869328 deg, deltaT: 4.487756 s, approachRate: -57.783894 m/s, LOS rate: 0.189475 deg/s, posRepo size: 4
2021-08-15T00:43:33.173Z,1628988213.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.720001 m,
      bearing: 213.869328 deg,
      approachRate: -57.783894 m/s,
      LOS rate: 0.189475 deg/s,
      cmd update: 0.757900 deg/s,
      cmd heading: 218.314293 deg,
      new cmd heading: 217.775147 deg.

2021-08-15T00:43:35.555Z,1628988215.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:43:35.957Z,1628988215.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:43:35.957Z,1628988215.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:43:35.957Z,1628988215.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:43:35.958Z,1628988215.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:43:36.341Z,1628988216.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15B,000,00B79,186,80,80,4E,FF
2021-08-15T00:43:36.341Z,1628988216.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:43:36.341Z,1628988216.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:43:36.343Z,1628988216.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:43:36.757Z,1628988216.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:43:37.569Z,1628988217.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D2,000,01BF8,186,80,80,69,FF
2021-08-15T00:43:37.569Z,1628988217.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:43:37.572Z,1628988217.572 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004337.57*5F

2021-08-15T00:43:38.007Z,1628988218.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 392.099976 m, bearing: 214.626974 deg, deltaT: 4.736382 s, approachRate: 53.496525 m/s, LOS rate: 0.159963 deg/s, posRepo size: 4
2021-08-15T00:43:38.009Z,1628988218.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 392.099976 m,
      bearing: 214.626974 deg,
      approachRate: 53.496525 m/s,
      LOS rate: 0.159963 deg/s,
      cmd update: 0.639852 deg/s,
      cmd heading: 221.906326 deg,
      new cmd heading: 222.221229 deg.

2021-08-15T00:43:40.403Z,1628988220.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:43:40.781Z,1628988220.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:43:40.781Z,1628988220.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:43:40.781Z,1628988220.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:43:40.782Z,1628988220.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:43:41.222Z,1628988221.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D2,000,01BF8,186,80,80,69,FF
2021-08-15T00:43:41.222Z,1628988221.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:43:41.222Z,1628988221.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:43:41.228Z,1628988221.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:43:41.605Z,1628988221.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:43:42.403Z,1628988222.403 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E1,000,01BC4,186,80,80,8A,FF
2021-08-15T00:43:42.403Z,1628988222.403 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:43:42.410Z,1628988222.410 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004342.46*5D

2021-08-15T00:43:42.919Z,1628988222.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 388.979980 m, bearing: 214.139831 deg, deltaT: 4.885643 s, approachRate: -0.638605 m/s, LOS rate: -0.099709 deg/s, posRepo size: 4
2021-08-15T00:43:42.926Z,1628988222.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 388.979980 m,
      bearing: 214.139831 deg,
      approachRate: -0.638605 m/s,
      LOS rate: -0.099709 deg/s,
      cmd update: -0.398836 deg/s,
      cmd heading: 225.026561 deg,
      new cmd heading: 225.317570 deg.

2021-08-15T00:43:45.307Z,1628988225.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:43:45.633Z,1628988225.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:43:45.633Z,1628988225.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:43:45.634Z,1628988225.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:43:45.635Z,1628988225.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:43:46.045Z,1628988226.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E1,000,01BC4,186,80,80,8A,FF
2021-08-15T00:43:46.045Z,1628988226.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:43:46.045Z,1628988226.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:43:46.047Z,1628988226.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:43:46.453Z,1628988226.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:43:47.265Z,1628988227.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,01B8A,185,80,80,60,FF
2021-08-15T00:43:47.265Z,1628988227.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:43:47.268Z,1628988227.268 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004347.28*50

2021-08-15T00:43:47.702Z,1628988227.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 385.500000 m, bearing: 213.960976 deg, deltaT: 4.847882 s, approachRate: -0.717835 m/s, LOS rate: -0.036894 deg/s, posRepo size: 4
2021-08-15T00:43:47.728Z,1628988227.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 385.500000 m,
      bearing: 213.960976 deg,
      approachRate: -0.717835 m/s,
      LOS rate: -0.036894 deg/s,
      cmd update: -0.147574 deg/s,
      cmd heading: 223.092985 deg,
      new cmd heading: 222.937612 deg.

2021-08-15T00:43:50.122Z,1628988230.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:43:50.477Z,1628988230.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:43:50.477Z,1628988230.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:43:50.477Z,1628988230.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:43:50.478Z,1628988230.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:43:50.907Z,1628988230.907 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10D,000,01B8A,185,80,80,60,FF
2021-08-15T00:43:50.907Z,1628988230.907 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:43:50.907Z,1628988230.907 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:43:50.909Z,1628988230.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:43:51.304Z,1628988231.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:43:52.099Z,1628988232.099 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,116,000,01B54,186,80,80,76,FF
2021-08-15T00:43:52.105Z,1628988232.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:43:52.113Z,1628988232.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004352.14*5B

2021-08-15T00:43:52.560Z,1628988232.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 382.259979 m, bearing: 213.958695 deg, deltaT: 4.854679 s, approachRate: -0.667402 m/s, LOS rate: -0.000470 deg/s, posRepo size: 4
2021-08-15T00:43:52.562Z,1628988232.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 382.259979 m,
      bearing: 213.958695 deg,
      approachRate: -0.667402 m/s,
      LOS rate: -0.000470 deg/s,
      cmd update: -0.001880 deg/s,
      cmd heading: 222.375874 deg,
      new cmd heading: 222.321007 deg.

2021-08-15T00:43:54.996Z,1628988234.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:43:55.342Z,1628988235.342 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:43:55.343Z,1628988235.343 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:43:55.343Z,1628988235.343 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:43:55.344Z,1628988235.344 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:43:55.742Z,1628988235.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
116,000,01B54,186,80,80,76,FF
2021-08-15T00:43:55.742Z,1628988235.742 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:43:55.742Z,1628988235.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:43:55.765Z,1628988235.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:43:56.145Z,1628988236.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:43:56.955Z,1628988236.955 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,01B21,185,80,80,5A,FF
2021-08-15T00:43:56.956Z,1628988236.956 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:43:56.963Z,1628988236.963 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004357.00*5B

2021-08-15T00:43:57.402Z,1628988237.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 379.199982 m, bearing: 214.440906 deg, deltaT: 4.861066 s, approachRate: -0.629491 m/s, LOS rate: 0.099199 deg/s, posRepo size: 4
2021-08-15T00:43:57.405Z,1628988237.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 379.199982 m,
      bearing: 214.440906 deg,
      approachRate: -0.629491 m/s,
      LOS rate: 0.099199 deg/s,
      cmd update: 0.396795 deg/s,
      cmd heading: 222.366730 deg,
      new cmd heading: 222.366043 deg.

2021-08-15T00:43:59.826Z,1628988239.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:44:00.173Z,1628988240.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:44:00.173Z,1628988240.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:44:00.173Z,1628988240.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:44:00.174Z,1628988240.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:44:00.589Z,1628988240.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,01B21,185,80,80,5A,FF
2021-08-15T00:44:00.589Z,1628988240.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:44:00.590Z,1628988240.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:44:00.593Z,1628988240.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:44:00.993Z,1628988240.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:44:01.809Z,1628988241.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,112,000,01AED,186,80,80,50,FF
2021-08-15T00:44:01.810Z,1628988241.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:44:01.812Z,1628988241.812 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004401.83*54

2021-08-15T00:44:02.273Z,1628988242.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 376.079987 m, bearing: 213.622130 deg, deltaT: 4.790786 s, approachRate: -0.651249 m/s, LOS rate: -0.170906 deg/s, posRepo size: 4
2021-08-15T00:44:02.275Z,1628988242.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 376.079987 m,
      bearing: 213.622130 deg,
      approachRate: -0.651249 m/s,
      LOS rate: -0.170906 deg/s,
      cmd update: -0.683625 deg/s,
      cmd heading: 224.268029 deg,
      new cmd heading: 224.444625 deg.

2021-08-15T00:44:04.639Z,1628988244.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:44:05.021Z,1628988245.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:44:05.021Z,1628988245.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:44:05.021Z,1628988245.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:44:05.022Z,1628988245.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:44:05.430Z,1628988245.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
112,000,01AED,186,80,80,50,FF
2021-08-15T00:44:05.430Z,1628988245.430 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:44:05.430Z,1628988245.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:44:05.432Z,1628988245.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:44:05.855Z,1628988245.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:44:06.669Z,1628988246.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10C,000,01AB9,186,80,80,8B,FF
2021-08-15T00:44:06.670Z,1628988246.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:44:06.697Z,1628988246.697 [Micromodem](INFO): Nmea in: $SNTTA,0.251328,,,,004406.66*49

2021-08-15T00:44:07.109Z,1628988247.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 372.959991 m, bearing: 215.054790 deg, deltaT: 4.938932 s, approachRate: -0.631715 m/s, LOS rate: 0.290075 deg/s, posRepo size: 4
2021-08-15T00:44:07.117Z,1628988247.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 372.959991 m,
      bearing: 215.054790 deg,
      approachRate: -0.631715 m/s,
      LOS rate: 0.290075 deg/s,
      cmd update: 1.160299 deg/s,
      cmd heading: 220.891667 deg,
      new cmd heading: 220.669594 deg.

2021-08-15T00:44:09.487Z,1628988249.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:44:09.880Z,1628988249.880 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:44:09.880Z,1628988249.880 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:44:09.881Z,1628988249.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:44:09.883Z,1628988249.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:44:10.285Z,1628988250.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10C,000,01AB9,186,80,80,8B,FF
2021-08-15T00:44:10.286Z,1628988250.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:44:10.286Z,1628988250.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:44:10.288Z,1628988250.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:44:10.716Z,1628988250.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:44:11.625Z,1628988251.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,01A82,185,80,80,67,FF
2021-08-15T00:44:11.625Z,1628988251.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:44:12.094Z,1628988252.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 369.660004 m, bearing: 213.441936 deg, deltaT: 4.903585 s, approachRate: -0.672975 m/s, LOS rate: -0.328913 deg/s, posRepo size: 4
2021-08-15T00:44:12.096Z,1628988252.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 369.660004 m,
      bearing: 213.441936 deg,
      approachRate: -0.672975 m/s,
      LOS rate: -0.328913 deg/s,
      cmd update: -1.315653 deg/s,
      cmd heading: 226.548750 deg,
      new cmd heading: 227.072243 deg.

2021-08-15T00:44:14.509Z,1628988254.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:44:14.855Z,1628988254.855 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:44:14.860Z,1628988254.860 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:44:14.860Z,1628988254.860 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:44:14.861Z,1628988254.861 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:44:15.278Z,1628988255.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10D,000,01A82,185,80,80,67,FF
2021-08-15T00:44:15.279Z,1628988255.279 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:44:15.279Z,1628988255.279 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:44:15.281Z,1628988255.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:44:15.673Z,1628988255.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:44:16.483Z,1628988256.483 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,140,000,01A4C,186,80,80,75,FF
2021-08-15T00:44:16.483Z,1628988256.483 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:44:16.489Z,1628988256.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004416.51*5D

2021-08-15T00:44:16.972Z,1628988256.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 366.419983 m, bearing: 212.923293 deg, deltaT: 4.854560 s, approachRate: -0.667418 m/s, LOS rate: -0.106836 deg/s, posRepo size: 4
2021-08-15T00:44:16.974Z,1628988256.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 366.419983 m,
      bearing: 212.923293 deg,
      approachRate: -0.667418 m/s,
      LOS rate: -0.106836 deg/s,
      cmd update: -0.427345 deg/s,
      cmd heading: 220.141040 deg,
      new cmd heading: 219.537568 deg.

2021-08-15T00:44:19.353Z,1628988259.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:44:19.709Z,1628988259.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:44:19.709Z,1628988259.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:44:19.709Z,1628988259.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:44:19.710Z,1628988259.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:44:20.118Z,1628988260.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
140,000,01A4C,186,80,80,75,FF
2021-08-15T00:44:20.118Z,1628988260.118 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:44:20.118Z,1628988260.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:44:20.122Z,1628988260.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:44:20.521Z,1628988260.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:44:21.364Z,1628988261.364 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E1,000,01A18,186,80,80,61,FF
2021-08-15T00:44:21.365Z,1628988261.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:44:21.370Z,1628988261.370 [Micromodem](INFO): Nmea in: $SNTTA,0.216952,,,,004421.35*4E

2021-08-15T00:44:21.774Z,1628988261.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 363.299988 m, bearing: 213.954255 deg, deltaT: 4.860953 s, approachRate: -0.641848 m/s, LOS rate: 0.212091 deg/s, posRepo size: 4
2021-08-15T00:44:21.792Z,1628988261.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 363.299988 m,
      bearing: 213.954255 deg,
      approachRate: -0.641848 m/s,
      LOS rate: 0.212091 deg/s,
      cmd update: 0.848362 deg/s,
      cmd heading: 218.058534 deg,
      new cmd heading: 217.893796 deg.

2021-08-15T00:44:24.221Z,1628988264.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:44:24.561Z,1628988264.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:44:24.561Z,1628988264.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:44:24.561Z,1628988264.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:44:24.562Z,1628988264.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:44:24.962Z,1628988264.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E1,000,01A18,186,80,80,61,FF
2021-08-15T00:44:24.962Z,1628988264.962 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:44:24.962Z,1628988264.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:44:24.965Z,1628988264.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:44:25.377Z,1628988265.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:44:26.206Z,1628988266.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,019E3,185,80,80,6F,FF
2021-08-15T00:44:26.206Z,1628988266.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:44:26.211Z,1628988266.211 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004426.20*58

2021-08-15T00:44:26.634Z,1628988266.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 360.119995 m, bearing: 213.450187 deg, deltaT: 4.921270 s, approachRate: -0.646173 m/s, LOS rate: -0.102426 deg/s, posRepo size: 4
2021-08-15T00:44:26.636Z,1628988266.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 360.119995 m,
      bearing: 213.450187 deg,
      approachRate: -0.646173 m/s,
      LOS rate: -0.102426 deg/s,
      cmd update: -0.409706 deg/s,
      cmd heading: 222.233291 deg,
      new cmd heading: 222.510594 deg.

2021-08-15T00:44:29.095Z,1628988269.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:44:29.417Z,1628988269.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:44:29.417Z,1628988269.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:44:29.417Z,1628988269.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:44:29.418Z,1628988269.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:44:29.805Z,1628988269.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,019E3,185,80,80,6F,FF
2021-08-15T00:44:29.805Z,1628988269.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:44:29.805Z,1628988269.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:44:29.807Z,1628988269.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:44:30.222Z,1628988270.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:44:31.045Z,1628988271.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EB,000,019AE,186,80,80,5F,FF
2021-08-15T00:44:31.046Z,1628988271.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:44:31.048Z,1628988271.048 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004431.04*58

2021-08-15T00:44:31.502Z,1628988271.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 356.939972 m, bearing: 212.567563 deg, deltaT: 4.833399 s, approachRate: -0.657927 m/s, LOS rate: -0.182609 deg/s, posRepo size: 4
2021-08-15T00:44:31.508Z,1628988271.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 356.939972 m,
      bearing: 212.567563 deg,
      approachRate: -0.657927 m/s,
      LOS rate: -0.182609 deg/s,
      cmd update: -0.730438 deg/s,
      cmd heading: 220.256310 deg,
      new cmd heading: 220.104953 deg.

2021-08-15T00:44:33.933Z,1628988273.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:44:34.276Z,1628988274.276 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:44:34.277Z,1628988274.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:44:34.277Z,1628988274.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:44:34.278Z,1628988274.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:44:34.665Z,1628988274.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EB,000,019AE,186,80,80,5F,FF
2021-08-15T00:44:34.665Z,1628988274.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:44:34.666Z,1628988274.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:44:34.672Z,1628988274.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:44:35.065Z,1628988275.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:44:35.908Z,1628988275.908 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CE,000,01977,186,80,80,A4,FF
2021-08-15T00:44:35.908Z,1628988275.908 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:44:35.911Z,1628988275.911 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004435.91*50

2021-08-15T00:44:36.355Z,1628988276.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 353.640015 m, bearing: 213.344579 deg, deltaT: 4.838855 s, approachRate: -0.681971 m/s, LOS rate: 0.160578 deg/s, posRepo size: 4
2021-08-15T00:44:36.358Z,1628988276.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.640015 m,
      bearing: 213.344579 deg,
      approachRate: -0.681971 m/s,
      LOS rate: 0.160578 deg/s,
      cmd update: 0.642314 deg/s,
      cmd heading: 216.718612 deg,
      new cmd heading: 216.443565 deg.

2021-08-15T00:44:38.831Z,1628988278.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:44:39.110Z,1628988279.110 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:44:39.110Z,1628988279.110 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:44:39.110Z,1628988279.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:44:39.111Z,1628988279.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:44:39.505Z,1628988279.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CE,000,01977,186,80,80,A4,FF
2021-08-15T00:44:39.505Z,1628988279.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:44:39.505Z,1628988279.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:44:39.507Z,1628988279.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:44:39.953Z,1628988279.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:44:40.753Z,1628988280.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,01945,186,80,80,69,FF
2021-08-15T00:44:40.753Z,1628988280.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:44:40.756Z,1628988280.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004440.74*59

2021-08-15T00:44:41.185Z,1628988281.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 350.639984 m, bearing: 213.372555 deg, deltaT: 4.858296 s, approachRate: -0.617507 m/s, LOS rate: 0.005758 deg/s, posRepo size: 4
2021-08-15T00:44:41.188Z,1628988281.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.639984 m,
      bearing: 213.372555 deg,
      approachRate: -0.617507 m/s,
      LOS rate: 0.005758 deg/s,
      cmd update: 0.023034 deg/s,
      cmd heading: 219.839102 deg,
      new cmd heading: 220.060383 deg.

2021-08-15T00:44:43.561Z,1628988283.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:44:43.961Z,1628988283.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:44:43.961Z,1628988283.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:44:43.961Z,1628988283.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:44:43.962Z,1628988283.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:44:44.354Z,1628988284.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,01945,186,80,80,69,FF
2021-08-15T00:44:44.354Z,1628988284.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:44:44.354Z,1628988284.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:44:44.376Z,1628988284.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:44:44.765Z,1628988284.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:44:45.597Z,1628988285.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,0190D,186,80,80,8D,FF
2021-08-15T00:44:45.597Z,1628988285.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:44:45.600Z,1628988285.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004445.61*58

2021-08-15T00:44:46.082Z,1628988286.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 347.279999 m, bearing: 212.974683 deg, deltaT: 4.783303 s, approachRate: -0.702440 m/s, LOS rate: -0.083179 deg/s, posRepo size: 4
2021-08-15T00:44:46.086Z,1628988286.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.279999 m,
      bearing: 212.974683 deg,
      approachRate: -0.702440 m/s,
      LOS rate: -0.083179 deg/s,
      cmd update: -0.332718 deg/s,
      cmd heading: 219.949257 deg,
      new cmd heading: 219.959945 deg.

2021-08-15T00:44:48.427Z,1628988288.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:44:48.805Z,1628988288.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:44:48.805Z,1628988288.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:44:48.805Z,1628988288.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:44:48.806Z,1628988288.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:44:49.201Z,1628988289.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,0190D,186,80,80,8D,FF
2021-08-15T00:44:49.201Z,1628988289.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:44:49.202Z,1628988289.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:44:49.205Z,1628988289.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:44:49.610Z,1628988289.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:44:50.445Z,1628988290.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,018DA,186,80,80,73,FF
2021-08-15T00:44:50.445Z,1628988290.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:44:50.448Z,1628988290.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004450.44*5B

2021-08-15T00:44:50.918Z,1628988290.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 344.220001 m, bearing: 213.160655 deg, deltaT: 4.842904 s, approachRate: -0.631852 m/s, LOS rate: 0.038401 deg/s, posRepo size: 4
2021-08-15T00:44:50.925Z,1628988290.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.220001 m,
      bearing: 213.160655 deg,
      approachRate: -0.631852 m/s,
      LOS rate: 0.038401 deg/s,
      cmd update: 0.153604 deg/s,
      cmd heading: 218.336224 deg,
      new cmd heading: 218.185309 deg.

2021-08-15T00:44:53.285Z,1628988293.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:44:53.653Z,1628988293.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:44:53.653Z,1628988293.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:44:53.653Z,1628988293.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:44:53.654Z,1628988293.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:44:54.058Z,1628988294.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,018DA,186,80,80,73,FF
2021-08-15T00:44:54.058Z,1628988294.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:44:54.058Z,1628988294.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:44:54.060Z,1628988294.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:44:54.469Z,1628988294.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:44:55.285Z,1628988295.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,018A4,186,80,80,96,FF
2021-08-15T00:44:55.286Z,1628988295.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:44:55.288Z,1628988295.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004455.29*55

2021-08-15T00:44:55.700Z,1628988295.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 340.979980 m, bearing: 213.361094 deg, deltaT: 4.860553 s, approachRate: -0.666595 m/s, LOS rate: 0.041238 deg/s, posRepo size: 4
2021-08-15T00:44:55.702Z,1628988295.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 340.979980 m,
      bearing: 213.361094 deg,
      approachRate: -0.666595 m/s,
      LOS rate: 0.041238 deg/s,
      cmd update: 0.164951 deg/s,
      cmd heading: 219.079706 deg,
      new cmd heading: 219.140442 deg.

2021-08-15T00:44:58.113Z,1628988298.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:44:58.501Z,1628988298.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:44:58.501Z,1628988298.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:44:58.501Z,1628988298.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:44:58.502Z,1628988298.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:44:58.916Z,1628988298.916 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,018A4,186,80,80,96,FF
2021-08-15T00:44:58.917Z,1628988298.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:44:58.917Z,1628988298.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:44:58.919Z,1628988298.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:44:59.309Z,1628988299.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:45:00.129Z,1628988300.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BB,000,01870,186,80,80,87,FF
2021-08-15T00:45:00.129Z,1628988300.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:45:00.132Z,1628988300.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004500.15*5B

2021-08-15T00:45:00.551Z,1628988300.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 337.859985 m, bearing: 213.243342 deg, deltaT: 4.871406 s, approachRate: -0.640471 m/s, LOS rate: -0.024172 deg/s, posRepo size: 4
2021-08-15T00:45:00.553Z,1628988300.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.859985 m,
      bearing: 213.243342 deg,
      approachRate: -0.640471 m/s,
      LOS rate: -0.024172 deg/s,
      cmd update: -0.096689 deg/s,
      cmd heading: 219.884031 deg,
      new cmd heading: 219.945071 deg.

2021-08-15T00:45:03.026Z,1628988303.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:45:03.345Z,1628988303.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:45:03.345Z,1628988303.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:45:03.345Z,1628988303.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:45:03.346Z,1628988303.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:45:03.745Z,1628988303.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BB,000,01870,186,80,80,87,FF
2021-08-15T00:45:03.745Z,1628988303.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:45:03.745Z,1628988303.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:45:03.747Z,1628988303.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:45:04.153Z,1628988304.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:45:04.997Z,1628988304.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,0183C,186,80,80,47,FF
2021-08-15T00:45:04.997Z,1628988304.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:45:05.001Z,1628988305.001 [Micromodem](INFO): Nmea in: $SNTTA,0.362156,,,,004504.98*41

2021-08-15T00:45:05.409Z,1628988305.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 334.739990 m, bearing: 213.394999 deg, deltaT: 4.907206 s, approachRate: -0.635799 m/s, LOS rate: 0.030905 deg/s, posRepo size: 4
2021-08-15T00:45:05.411Z,1628988305.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 334.739990 m,
      bearing: 213.394999 deg,
      approachRate: -0.635799 m/s,
      LOS rate: 0.030905 deg/s,
      cmd update: 0.123620 deg/s,
      cmd heading: 219.408443 deg,
      new cmd heading: 219.378543 deg.

2021-08-15T00:45:07.811Z,1628988307.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:45:08.201Z,1628988308.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:45:08.202Z,1628988308.202 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:45:08.202Z,1628988308.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:45:08.203Z,1628988308.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:45:08.593Z,1628988308.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,0183C,186,80,80,47,FF
2021-08-15T00:45:08.593Z,1628988308.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:45:08.593Z,1628988308.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:45:08.595Z,1628988308.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:45:09.013Z,1628988309.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:45:09.837Z,1628988309.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E1,000,01807,186,80,80,6E,FF
2021-08-15T00:45:09.837Z,1628988309.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:45:09.840Z,1628988309.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004509.83*5D

2021-08-15T00:45:10.281Z,1628988310.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 331.559998 m, bearing: 211.731602 deg, deltaT: 4.760671 s, approachRate: -0.667972 m/s, LOS rate: -0.349404 deg/s, posRepo size: 4
2021-08-15T00:45:10.283Z,1628988310.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 331.559998 m,
      bearing: 211.731602 deg,
      approachRate: -0.667972 m/s,
      LOS rate: -0.349404 deg/s,
      cmd update: -1.397616 deg/s,
      cmd heading: 219.997044 deg,
      new cmd heading: 220.048916 deg.

2021-08-15T00:45:12.723Z,1628988312.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:45:13.041Z,1628988313.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:45:13.041Z,1628988313.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:45:13.042Z,1628988313.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:45:13.043Z,1628988313.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:45:13.441Z,1628988313.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E1,000,01807,186,80,80,6E,FF
2021-08-15T00:45:13.441Z,1628988313.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:45:13.441Z,1628988313.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:45:13.443Z,1628988313.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:45:13.853Z,1628988313.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:45:14.733Z,1628988314.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CE,000,017D2,185,80,80,75,FF
2021-08-15T00:45:14.733Z,1628988314.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:45:14.736Z,1628988314.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004514.68*54

2021-08-15T00:45:15.130Z,1628988315.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 328.379974 m, bearing: 212.177627 deg, deltaT: 4.956995 s, approachRate: -0.641522 m/s, LOS rate: 0.089979 deg/s, posRepo size: 4
2021-08-15T00:45:15.136Z,1628988315.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 328.379974 m,
      bearing: 212.177627 deg,
      approachRate: -0.641522 m/s,
      LOS rate: 0.089979 deg/s,
      cmd update: 0.359916 deg/s,
      cmd heading: 213.075890 deg,
      new cmd heading: 212.632791 deg.

2021-08-15T00:45:17.515Z,1628988317.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:45:17.914Z,1628988317.914 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:45:17.914Z,1628988317.914 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:45:17.915Z,1628988317.915 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:45:17.916Z,1628988317.916 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:45:18.301Z,1628988318.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CE,000,017D2,185,80,80,75,FF
2021-08-15T00:45:18.301Z,1628988318.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:45:18.301Z,1628988318.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:45:18.303Z,1628988318.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:45:18.757Z,1628988318.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:45:19.117Z,1628988319.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,007DC,186,80,80,70,FF
2021-08-15T00:45:19.117Z,1628988319.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:45:19.557Z,1628988319.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004519.54*56

2021-08-15T00:45:19.574Z,1628988319.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.220001 m, bearing: 213.147050 deg, deltaT: 4.346165 s, approachRate: -56.408344 m/s, LOS rate: 0.223052 deg/s, posRepo size: 4
2021-08-15T00:45:19.581Z,1628988319.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.220001 m,
      bearing: 213.147050 deg,
      approachRate: -56.408344 m/s,
      LOS rate: 0.223052 deg/s,
      cmd update: 0.892209 deg/s,
      cmd heading: 214.643060 deg,
      new cmd heading: 214.789374 deg.

2021-08-15T00:45:22.005Z,1628988322.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:45:22.342Z,1628988322.342 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:45:22.342Z,1628988322.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:45:22.342Z,1628988322.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:45:22.343Z,1628988322.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:45:22.768Z,1628988322.768 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,007DC,186,80,80,70,FF
2021-08-15T00:45:22.769Z,1628988322.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:45:22.769Z,1628988322.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:45:22.770Z,1628988322.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:45:23.169Z,1628988323.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:45:24.001Z,1628988324.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,0176F,187,80,80,4C,FF
2021-08-15T00:45:24.001Z,1628988324.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:45:24.004Z,1628988324.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004524.01*58

2021-08-15T00:45:24.425Z,1628988324.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 322.440002 m, bearing: 211.554769 deg, deltaT: 4.863189 s, approachRate: 49.189945 m/s, LOS rate: -0.327415 deg/s, posRepo size: 4
2021-08-15T00:45:24.427Z,1628988324.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 322.440002 m,
      bearing: 211.554769 deg,
      approachRate: 49.189945 m/s,
      LOS rate: -0.327415 deg/s,
      cmd update: -1.309660 deg/s,
      cmd heading: 218.982024 deg,
      new cmd heading: 219.334482 deg.

2021-08-15T00:45:26.900Z,1628988326.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:45:27.213Z,1628988327.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:45:27.214Z,1628988327.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:45:27.214Z,1628988327.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:45:27.215Z,1628988327.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:45:27.613Z,1628988327.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,0176F,187,80,80,4C,FF
2021-08-15T00:45:27.613Z,1628988327.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:45:27.613Z,1628988327.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:45:27.615Z,1628988327.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:45:28.029Z,1628988328.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:45:28.858Z,1628988328.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,0173A,185,80,80,94,FF
2021-08-15T00:45:28.858Z,1628988328.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:45:28.861Z,1628988328.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004528.85*58

2021-08-15T00:45:29.263Z,1628988329.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 319.259979 m, bearing: 211.860638 deg, deltaT: 4.942289 s, approachRate: -0.643431 m/s, LOS rate: 0.061888 deg/s, posRepo size: 4
2021-08-15T00:45:29.284Z,1628988329.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 319.259979 m,
      bearing: 211.860638 deg,
      approachRate: -0.643431 m/s,
      LOS rate: 0.061888 deg/s,
      cmd update: 0.247553 deg/s,
      cmd heading: 212.509940 deg,
      new cmd heading: 212.128574 deg.

2021-08-15T00:45:31.679Z,1628988331.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:45:32.049Z,1628988332.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:45:32.049Z,1628988332.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:45:32.049Z,1628988332.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:45:32.050Z,1628988332.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:45:32.469Z,1628988332.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,0173A,185,80,80,94,FF
2021-08-15T00:45:32.469Z,1628988332.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:45:32.469Z,1628988332.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:45:32.471Z,1628988332.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:45:32.865Z,1628988332.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:45:33.277Z,1628988333.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,006C0,187,80,80,7A,FF
2021-08-15T00:45:33.278Z,1628988333.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:45:33.705Z,1628988333.705 [Micromodem](INFO): Nmea in: $SNTTA,0.337163,,,,004533.70*45

2021-08-15T00:45:33.741Z,1628988333.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.180000 m, bearing: 212.445070 deg, deltaT: 4.322162 s, approachRate: -58.554028 m/s, LOS rate: 0.135218 deg/s, posRepo size: 4
2021-08-15T00:45:33.743Z,1628988333.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.180000 m,
      bearing: 212.445070 deg,
      approachRate: -58.554028 m/s,
      LOS rate: 0.135218 deg/s,
      cmd update: 0.540870 deg/s,
      cmd heading: 213.579911 deg,
      new cmd heading: 213.690290 deg.

2021-08-15T00:45:36.145Z,1628988336.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:45:36.509Z,1628988336.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:45:36.509Z,1628988336.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:45:36.509Z,1628988336.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:45:36.510Z,1628988336.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:45:36.917Z,1628988336.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,006C0,187,80,80,7A,FF
2021-08-15T00:45:36.917Z,1628988336.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:45:36.917Z,1628988336.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:45:36.919Z,1628988336.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:45:37.317Z,1628988337.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:45:38.141Z,1628988338.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,016DB,186,80,80,60,FF
2021-08-15T00:45:38.142Z,1628988338.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:45:38.145Z,1628988338.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004538.15*50

2021-08-15T00:45:38.552Z,1628988338.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 313.559998 m, bearing: 210.873812 deg, deltaT: 4.915290 s, approachRate: 50.328671 m/s, LOS rate: -0.319667 deg/s, posRepo size: 4
2021-08-15T00:45:38.554Z,1628988338.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.559998 m,
      bearing: 210.873812 deg,
      approachRate: 50.328671 m/s,
      LOS rate: -0.319667 deg/s,
      cmd update: -1.278669 deg/s,
      cmd heading: 216.233126 deg,
      new cmd heading: 216.423500 deg.

2021-08-15T00:45:41.033Z,1628988341.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:45:41.373Z,1628988341.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:45:41.373Z,1628988341.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:45:41.373Z,1628988341.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:45:41.374Z,1628988341.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:45:41.753Z,1628988341.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,016DB,186,80,80,60,FF
2021-08-15T00:45:41.754Z,1628988341.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:45:41.754Z,1628988341.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:45:41.755Z,1628988341.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:45:42.185Z,1628988342.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:45:42.977Z,1628988342.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,080,000,0169F,186,80,80,73,FF
2021-08-15T00:45:42.978Z,1628988342.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:45:42.981Z,1628988342.981 [Micromodem](INFO): Nmea in: $SNTTA,0.399681,0.399812,,,004542.99*5D

2021-08-15T00:45:43.407Z,1628988343.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 309.959991 m, bearing: 211.100452 deg, deltaT: 4.875538 s, approachRate: -0.738381 m/s, LOS rate: 0.046485 deg/s, posRepo size: 4
2021-08-15T00:45:43.410Z,1628988343.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.959991 m,
      bearing: 211.100452 deg,
      approachRate: -0.738381 m/s,
      LOS rate: 0.046485 deg/s,
      cmd update: 0.185940 deg/s,
      cmd heading: 209.990786 deg,
      new cmd heading: 209.574436 deg.

2021-08-15T00:45:45.811Z,1628988345.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:45:46.206Z,1628988346.206 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:45:46.206Z,1628988346.206 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:45:46.206Z,1628988346.206 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:45:46.207Z,1628988346.207 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:45:46.605Z,1628988346.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
080,000,0169F,186,80,80,73,FF
2021-08-15T00:45:46.605Z,1628988346.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:45:46.605Z,1628988346.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:45:46.607Z,1628988346.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:45:47.016Z,1628988347.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:45:47.851Z,1628988347.851 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,01669,184,80,80,79,FF
2021-08-15T00:45:47.851Z,1628988347.851 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:45:47.854Z,1628988347.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004547.84*50

2021-08-15T00:45:48.267Z,1628988348.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 306.720001 m, bearing: 212.409130 deg, deltaT: 4.839307 s, approachRate: -0.669515 m/s, LOS rate: 0.270427 deg/s, posRepo size: 4
2021-08-15T00:45:48.269Z,1628988348.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 306.720001 m,
      bearing: 212.409130 deg,
      approachRate: -0.669515 m/s,
      LOS rate: 0.270427 deg/s,
      cmd update: 1.081707 deg/s,
      cmd heading: 210.889061 deg,
      new cmd heading: 210.954859 deg.

2021-08-15T00:45:50.730Z,1628988350.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:45:51.049Z,1628988351.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:45:51.049Z,1628988351.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:45:51.049Z,1628988351.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:45:51.050Z,1628988351.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:45:51.442Z,1628988351.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,01669,184,80,80,79,FF
2021-08-15T00:45:51.443Z,1628988351.443 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:45:51.443Z,1628988351.443 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:45:51.445Z,1628988351.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:45:51.883Z,1628988351.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:45:52.708Z,1628988352.708 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004552.68*56

2021-08-15T00:45:53.504Z,1628988353.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:45:55.090Z,1628988355.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,184,80,80,79,FF
2021-08-15T00:45:55.090Z,1628988355.090 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,184,80,80,79,FF
2021-08-15T00:45:55.090Z,1628988355.090 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:45:56.046Z,1628988356.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:45:56.318Z,1628988356.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:45:56.318Z,1628988356.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:45:56.319Z,1628988356.319 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:45:56.319Z,1628988356.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:45:56.749Z,1628988356.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,184,80,80,79,FF
2021-08-15T00:45:56.749Z,1628988356.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:45:56.749Z,1628988356.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:45:56.751Z,1628988356.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:45:57.173Z,1628988357.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:45:57.983Z,1628988357.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,015FB,186,80,80,4B,FF
2021-08-15T00:45:57.983Z,1628988357.983 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:45:57.987Z,1628988357.987 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004558.00*52

2021-08-15T00:45:58.419Z,1628988358.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 300.119995 m, bearing: 211.649585 deg, deltaT: 10.107904 s, approachRate: -0.652955 m/s, LOS rate: -0.075144 deg/s, posRepo size: 4
2021-08-15T00:45:58.422Z,1628988358.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 300.119995 m,
      bearing: 211.649585 deg,
      approachRate: -0.652955 m/s,
      LOS rate: -0.075144 deg/s,
      cmd update: -0.300574 deg/s,
      cmd heading: 221.814306 deg,
      new cmd heading: 222.254165 deg.

2021-08-15T00:46:00.857Z,1628988360.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:46:01.197Z,1628988361.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:46:01.197Z,1628988361.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:46:01.197Z,1628988361.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:46:01.198Z,1628988361.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:46:01.622Z,1628988361.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,015FB,186,80,80,4B,FF
2021-08-15T00:46:01.622Z,1628988361.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:46:01.622Z,1628988361.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:46:01.624Z,1628988361.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:46:02.012Z,1628988362.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:46:02.825Z,1628988362.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,015C9,186,80,80,69,FF
2021-08-15T00:46:02.826Z,1628988362.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:46:02.858Z,1628988362.858 [Micromodem](INFO): Nmea in: $SNTTA,0.464083,0.463977,,,004602.86*55

2021-08-15T00:46:03.272Z,1628988363.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 297.119995 m, bearing: 210.581795 deg, deltaT: 4.933226 s, approachRate: -0.608121 m/s, LOS rate: -0.216449 deg/s, posRepo size: 4
2021-08-15T00:46:03.274Z,1628988363.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 297.119995 m,
      bearing: 210.581795 deg,
      approachRate: -0.608121 m/s,
      LOS rate: -0.216449 deg/s,
      cmd update: -0.865795 deg/s,
      cmd heading: 220.325426 deg,
      new cmd heading: 220.233634 deg.

2021-08-15T00:46:05.691Z,1628988365.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:46:06.049Z,1628988366.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:46:06.049Z,1628988366.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:46:06.049Z,1628988366.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:46:06.050Z,1628988366.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:46:06.468Z,1628988366.468 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,015C9,186,80,80,69,FF
2021-08-15T00:46:06.468Z,1628988366.468 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:46:06.469Z,1628988366.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:46:06.471Z,1628988366.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:46:06.871Z,1628988366.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:46:07.683Z,1628988367.683 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,104,000,0159C,186,80,80,5D,FF
2021-08-15T00:46:07.683Z,1628988367.683 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:46:07.686Z,1628988367.686 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004607.70*5C

2021-08-15T00:46:08.131Z,1628988368.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.419983 m, bearing: 210.269969 deg, deltaT: 4.735645 s, approachRate: -0.570147 m/s, LOS rate: -0.065846 deg/s, posRepo size: 4
2021-08-15T00:46:08.149Z,1628988368.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.419983 m,
      bearing: 210.269969 deg,
      approachRate: -0.570147 m/s,
      LOS rate: -0.065846 deg/s,
      cmd update: -0.263386 deg/s,
      cmd heading: 216.225275 deg,
      new cmd heading: 215.855580 deg.

2021-08-15T00:46:10.528Z,1628988370.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:46:10.917Z,1628988370.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:46:10.917Z,1628988370.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:46:10.917Z,1628988370.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:46:10.918Z,1628988370.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:46:11.341Z,1628988371.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
104,000,0159C,186,80,80,5D,FF
2021-08-15T00:46:11.342Z,1628988371.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:46:11.342Z,1628988371.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:46:11.350Z,1628988371.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:46:11.708Z,1628988371.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:46:12.524Z,1628988372.524 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,0155D,185,80,80,63,FF
2021-08-15T00:46:12.525Z,1628988372.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:46:12.541Z,1628988372.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004612.58*52

2021-08-15T00:46:13.019Z,1628988373.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 290.639984 m, bearing: 210.484738 deg, deltaT: 4.874223 s, approachRate: -0.775508 m/s, LOS rate: 0.044062 deg/s, posRepo size: 4
2021-08-15T00:46:13.021Z,1628988373.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 290.639984 m,
      bearing: 210.484738 deg,
      approachRate: -0.775508 m/s,
      LOS rate: 0.044062 deg/s,
      cmd update: 0.176248 deg/s,
      cmd heading: 214.942589 deg,
      new cmd heading: 214.824844 deg.

2021-08-15T00:46:15.378Z,1628988375.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:46:15.777Z,1628988375.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:46:15.777Z,1628988375.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:46:15.777Z,1628988375.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:46:15.778Z,1628988375.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:46:16.149Z,1628988376.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,0155D,185,80,80,63,FF
2021-08-15T00:46:16.149Z,1628988376.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:46:16.150Z,1628988376.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:46:16.151Z,1628988376.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:46:16.568Z,1628988376.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:46:17.382Z,1628988377.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AC,000,01527,186,80,80,7B,FF
2021-08-15T00:46:17.382Z,1628988377.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:46:17.385Z,1628988377.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004617.38*51

2021-08-15T00:46:17.806Z,1628988377.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.399994 m, bearing: 210.066156 deg, deltaT: 4.862207 s, approachRate: -0.666362 m/s, LOS rate: -0.086089 deg/s, posRepo size: 4
2021-08-15T00:46:17.830Z,1628988377.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.399994 m,
      bearing: 210.066156 deg,
      approachRate: -0.666362 m/s,
      LOS rate: -0.086089 deg/s,
      cmd update: -0.344355 deg/s,
      cmd heading: 215.800320 deg,
      new cmd heading: 215.864918 deg.

2021-08-15T00:46:20.243Z,1628988380.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:46:20.601Z,1628988380.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:46:20.602Z,1628988380.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:46:20.602Z,1628988380.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:46:20.603Z,1628988380.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:46:21.021Z,1628988381.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AC,000,01527,186,80,80,7B,FF
2021-08-15T00:46:21.021Z,1628988381.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:46:21.021Z,1628988381.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:46:21.023Z,1628988381.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:46:21.412Z,1628988381.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:46:22.236Z,1628988382.236 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,014F1,186,80,80,4E,FF
2021-08-15T00:46:22.236Z,1628988382.236 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:46:22.240Z,1628988382.240 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004622.25*5B

2021-08-15T00:46:22.716Z,1628988382.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 284.160004 m, bearing: 211.243011 deg, deltaT: 4.827453 s, approachRate: -0.671159 m/s, LOS rate: 0.243784 deg/s, posRepo size: 4
2021-08-15T00:46:22.719Z,1628988382.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.160004 m,
      bearing: 211.243011 deg,
      approachRate: -0.671159 m/s,
      LOS rate: 0.243784 deg/s,
      cmd update: 0.975136 deg/s,
      cmd heading: 214.138019 deg,
      new cmd heading: 213.984809 deg.

2021-08-15T00:46:25.120Z,1628988385.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:46:25.441Z,1628988385.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:46:25.441Z,1628988385.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:46:25.441Z,1628988385.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:46:25.442Z,1628988385.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:46:25.849Z,1628988385.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,014F1,186,80,80,4E,FF
2021-08-15T00:46:25.849Z,1628988385.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:46:25.849Z,1628988385.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:46:25.851Z,1628988385.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:46:26.268Z,1628988386.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:46:27.085Z,1628988387.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,014BE,186,80,80,70,FF
2021-08-15T00:46:27.085Z,1628988387.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:46:27.088Z,1628988387.088 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004627.08*51

2021-08-15T00:46:27.517Z,1628988387.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.100006 m, bearing: 209.620527 deg, deltaT: 4.888616 s, approachRate: -0.625944 m/s, LOS rate: -0.331890 deg/s, posRepo size: 4
2021-08-15T00:46:27.519Z,1628988387.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.100006 m,
      bearing: 209.620527 deg,
      approachRate: -0.625944 m/s,
      LOS rate: -0.331890 deg/s,
      cmd update: -1.327561 deg/s,
      cmd heading: 218.905216 deg,
      new cmd heading: 219.240882 deg.

2021-08-15T00:46:29.950Z,1628988389.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:46:30.297Z,1628988390.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:46:30.297Z,1628988390.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:46:30.297Z,1628988390.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:46:30.298Z,1628988390.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:46:30.738Z,1628988390.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,014BE,186,80,80,70,FF
2021-08-15T00:46:30.738Z,1628988390.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:46:30.738Z,1628988390.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:46:30.740Z,1628988390.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:46:31.132Z,1628988391.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:46:31.969Z,1628988391.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,01490,186,80,80,61,FF
2021-08-15T00:46:31.970Z,1628988391.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:46:31.973Z,1628988391.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004631.97*50

2021-08-15T00:46:32.376Z,1628988392.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 278.339996 m, bearing: 208.672757 deg, deltaT: 4.896774 s, approachRate: -0.563638 m/s, LOS rate: -0.193550 deg/s, posRepo size: 4
2021-08-15T00:46:32.378Z,1628988392.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 278.339996 m,
      bearing: 208.672757 deg,
      approachRate: -0.563638 m/s,
      LOS rate: -0.193550 deg/s,
      cmd update: -0.774200 deg/s,
      cmd heading: 212.410285 deg,
      new cmd heading: 211.973970 deg.

2021-08-15T00:46:34.804Z,1628988394.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:46:35.157Z,1628988395.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:46:35.157Z,1628988395.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:46:35.157Z,1628988395.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:46:35.158Z,1628988395.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:46:35.566Z,1628988395.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,01490,186,80,80,61,FF
2021-08-15T00:46:35.566Z,1628988395.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:46:35.566Z,1628988395.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:46:35.568Z,1628988395.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:46:35.973Z,1628988395.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:46:36.806Z,1628988396.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,0145A,186,80,80,7A,FF
2021-08-15T00:46:36.806Z,1628988396.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:46:36.809Z,1628988396.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004636.80*51

2021-08-15T00:46:37.238Z,1628988397.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 275.099976 m, bearing: 209.082800 deg, deltaT: 4.852105 s, approachRate: -0.667756 m/s, LOS rate: 0.084508 deg/s, posRepo size: 4
2021-08-15T00:46:37.240Z,1628988397.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 275.099976 m,
      bearing: 209.082800 deg,
      approachRate: -0.667756 m/s,
      LOS rate: 0.084508 deg/s,
      cmd update: 0.338034 deg/s,
      cmd heading: 208.665648 deg,
      new cmd heading: 208.392294 deg.

2021-08-15T00:46:39.619Z,1628988399.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:46:40.009Z,1628988400.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:46:40.009Z,1628988400.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:46:40.009Z,1628988400.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:46:40.010Z,1628988400.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:46:40.409Z,1628988400.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,0145A,186,80,80,7A,FF
2021-08-15T00:46:40.409Z,1628988400.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:46:40.410Z,1628988400.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:46:40.411Z,1628988400.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:46:40.826Z,1628988400.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:46:41.657Z,1628988401.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,01422,186,80,80,93,FF
2021-08-15T00:46:41.657Z,1628988401.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:46:41.660Z,1628988401.660 [Micromodem](INFO): Nmea in: $SNTTA,0.183278,,,,004641.65*43

2021-08-15T00:46:42.089Z,1628988402.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.739990 m, bearing: 208.177199 deg, deltaT: 4.773140 s, approachRate: -0.703936 m/s, LOS rate: -0.189729 deg/s, posRepo size: 4
2021-08-15T00:46:42.091Z,1628988402.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.739990 m,
      bearing: 208.177199 deg,
      approachRate: -0.703936 m/s,
      LOS rate: -0.189729 deg/s,
      cmd update: -0.758914 deg/s,
      cmd heading: 210.285669 deg,
      new cmd heading: 210.425010 deg.

2021-08-15T00:46:44.487Z,1628988404.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:46:44.876Z,1628988404.876 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:46:44.877Z,1628988404.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:46:44.877Z,1628988404.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:46:44.879Z,1628988404.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:46:45.281Z,1628988405.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,01422,186,80,80,93,FF
2021-08-15T00:46:45.282Z,1628988405.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:46:45.282Z,1628988405.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:46:45.283Z,1628988405.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:46:45.680Z,1628988405.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:46:46.497Z,1628988406.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,013EC,185,80,80,75,FF
2021-08-15T00:46:46.498Z,1628988406.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:46:46.501Z,1628988406.500 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004646.52*59

2021-08-15T00:46:46.979Z,1628988406.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.500000 m, bearing: 208.084404 deg, deltaT: 4.840291 s, approachRate: -0.669379 m/s, LOS rate: -0.019171 deg/s, posRepo size: 4
2021-08-15T00:46:46.981Z,1628988406.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 268.500000 m,
      bearing: 208.084404 deg,
      approachRate: -0.669379 m/s,
      LOS rate: -0.019171 deg/s,
      cmd update: -0.076685 deg/s,
      cmd heading: 206.612442 deg,
      new cmd heading: 206.261609 deg.

2021-08-15T00:46:49.351Z,1628988409.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:46:49.717Z,1628988409.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:46:49.717Z,1628988409.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:46:49.717Z,1628988409.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:46:49.718Z,1628988409.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:46:50.123Z,1628988410.123 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,013EC,185,80,80,75,FF
2021-08-15T00:46:50.123Z,1628988410.123 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:46:50.123Z,1628988410.123 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:46:50.125Z,1628988410.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:46:50.532Z,1628988410.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:46:51.367Z,1628988411.367 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,013B7,184,80,80,64,FF
2021-08-15T00:46:51.368Z,1628988411.368 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:46:51.370Z,1628988411.370 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004651.36*5D

2021-08-15T00:46:51.768Z,1628988411.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.319977 m, bearing: 208.561889 deg, deltaT: 4.918567 s, approachRate: -0.646535 m/s, LOS rate: 0.097078 deg/s, posRepo size: 4
2021-08-15T00:46:51.770Z,1628988411.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.319977 m,
      bearing: 208.561889 deg,
      approachRate: -0.646535 m/s,
      LOS rate: 0.097078 deg/s,
      cmd update: 0.388312 deg/s,
      cmd heading: 206.236143 deg,
      new cmd heading: 206.209744 deg.

2021-08-15T00:46:54.194Z,1628988414.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:46:54.570Z,1628988414.570 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:46:54.570Z,1628988414.570 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:46:54.570Z,1628988414.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:46:54.571Z,1628988414.571 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:46:54.974Z,1628988414.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,013B7,184,80,80,64,FF
2021-08-15T00:46:54.974Z,1628988414.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:46:54.974Z,1628988414.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:46:54.976Z,1628988414.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:46:55.372Z,1628988415.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:46:56.215Z,1628988416.215 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,01380,183,80,80,7F,FF
2021-08-15T00:46:56.215Z,1628988416.215 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:46:56.221Z,1628988416.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004656.21*5C

2021-08-15T00:46:56.617Z,1628988416.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.019989 m, bearing: 208.764063 deg, deltaT: 4.863063 s, approachRate: -0.678582 m/s, LOS rate: 0.041573 deg/s, posRepo size: 4
2021-08-15T00:46:56.619Z,1628988416.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.019989 m,
      bearing: 208.764063 deg,
      approachRate: -0.678582 m/s,
      LOS rate: 0.041573 deg/s,
      cmd update: 0.166293 deg/s,
      cmd heading: 208.127617 deg,
      new cmd heading: 208.252876 deg.

2021-08-15T00:46:59.082Z,1628988419.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:46:59.409Z,1628988419.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:46:59.409Z,1628988419.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:46:59.409Z,1628988419.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:46:59.410Z,1628988419.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:46:59.813Z,1628988419.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,01380,183,80,80,7F,FF
2021-08-15T00:46:59.813Z,1628988419.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:46:59.814Z,1628988419.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:46:59.815Z,1628988419.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:47:00.218Z,1628988420.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:47:01.055Z,1628988421.055 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,0133F,183,80,80,41,FF
2021-08-15T00:47:01.057Z,1628988421.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:47:01.062Z,1628988421.062 [Micromodem](INFO): Nmea in: $SNTTA,0.174622,,,,004701.05*43

2021-08-15T00:47:01.479Z,1628988421.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.119995 m, bearing: 209.302746 deg, deltaT: 4.879099 s, approachRate: -0.799327 m/s, LOS rate: 0.110406 deg/s, posRepo size: 4
2021-08-15T00:47:01.501Z,1628988421.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.119995 m,
      bearing: 209.302746 deg,
      approachRate: -0.799327 m/s,
      LOS rate: 0.110406 deg/s,
      cmd update: 0.441625 deg/s,
      cmd heading: 208.938226 deg,
      new cmd heading: 208.989861 deg.

2021-08-15T00:47:03.918Z,1628988423.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:47:04.277Z,1628988424.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:47:04.277Z,1628988424.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:47:04.277Z,1628988424.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:47:04.278Z,1628988424.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:47:04.689Z,1628988424.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,0133F,183,80,80,41,FF
2021-08-15T00:47:04.690Z,1628988424.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:47:04.690Z,1628988424.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:47:04.706Z,1628988424.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:47:05.105Z,1628988425.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:47:05.961Z,1628988425.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,01310,183,80,80,63,FF
2021-08-15T00:47:05.962Z,1628988425.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:47:05.965Z,1628988425.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004705.94*55

2021-08-15T00:47:06.335Z,1628988426.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.299988 m, bearing: 211.202345 deg, deltaT: 4.868732 s, approachRate: -0.579208 m/s, LOS rate: 0.390163 deg/s, posRepo size: 4
2021-08-15T00:47:06.338Z,1628988426.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.299988 m,
      bearing: 211.202345 deg,
      approachRate: -0.579208 m/s,
      LOS rate: 0.390163 deg/s,
      cmd update: 1.560652 deg/s,
      cmd heading: 211.092211 deg,
      new cmd heading: 211.219873 deg.

2021-08-15T00:47:08.794Z,1628988428.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:47:09.126Z,1628988429.126 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:47:09.126Z,1628988429.126 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:47:09.126Z,1628988429.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:47:09.127Z,1628988429.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:47:09.537Z,1628988429.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF3,000,01310,183,80,80,63,FF
2021-08-15T00:47:09.537Z,1628988429.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:47:09.537Z,1628988429.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:47:09.539Z,1628988429.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:47:09.956Z,1628988429.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:47:10.777Z,1628988430.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,012DC,184,80,80,40,FF
2021-08-15T00:47:10.778Z,1628988430.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:47:10.781Z,1628988430.781 [Micromodem](INFO): Nmea in: $SNTTA,0.170668,,,,004710.77*4C

2021-08-15T00:47:11.202Z,1628988431.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.179993 m, bearing: 210.785730 deg, deltaT: 4.823721 s, approachRate: -0.646803 m/s, LOS rate: -0.086368 deg/s, posRepo size: 4
2021-08-15T00:47:11.205Z,1628988431.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.179993 m,
      bearing: 210.785730 deg,
      approachRate: -0.646803 m/s,
      LOS rate: -0.086368 deg/s,
      cmd update: -0.345471 deg/s,
      cmd heading: 218.601266 deg,
      new cmd heading: 219.136428 deg.

2021-08-15T00:47:13.587Z,1628988433.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:47:13.969Z,1628988433.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:47:13.969Z,1628988433.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:47:13.969Z,1628988433.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:47:13.970Z,1628988433.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:47:14.382Z,1628988434.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,012DC,184,80,80,40,FF
2021-08-15T00:47:14.382Z,1628988434.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:47:14.383Z,1628988434.383 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:47:14.384Z,1628988434.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:47:14.788Z,1628988434.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:47:15.617Z,1628988435.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,0129C,186,80,80,52,FF
2021-08-15T00:47:15.618Z,1628988435.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:47:15.621Z,1628988435.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004715.62*5D

2021-08-15T00:47:16.029Z,1628988436.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.339981 m, bearing: 210.431394 deg, deltaT: 4.801069 s, approachRate: -0.799824 m/s, LOS rate: -0.073804 deg/s, posRepo size: 4
2021-08-15T00:47:16.031Z,1628988436.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.339981 m,
      bearing: 210.431394 deg,
      approachRate: -0.799824 m/s,
      LOS rate: -0.073804 deg/s,
      cmd update: -0.295215 deg/s,
      cmd heading: 216.938435 deg,
      new cmd heading: 216.814963 deg.

2021-08-15T00:47:18.435Z,1628988438.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:47:18.817Z,1628988438.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:47:18.817Z,1628988438.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:47:18.817Z,1628988438.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:47:18.818Z,1628988438.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:47:19.230Z,1628988439.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,0129C,186,80,80,52,FF
2021-08-15T00:47:19.231Z,1628988439.231 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:47:19.231Z,1628988439.231 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:47:19.249Z,1628988439.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:47:19.633Z,1628988439.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:47:20.437Z,1628988440.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D8,000,01270,185,80,80,64,FF
2021-08-15T00:47:20.437Z,1628988440.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:47:20.444Z,1628988440.444 [Micromodem](INFO): Nmea in: $SNTTA,0.167523,,,,004720.48*49

2021-08-15T00:47:20.943Z,1628988440.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.699997 m, bearing: 209.404639 deg, deltaT: 4.824130 s, approachRate: -0.547246 m/s, LOS rate: -0.212837 deg/s, posRepo size: 4
2021-08-15T00:47:20.950Z,1628988440.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.699997 m,
      bearing: 209.404639 deg,
      approachRate: -0.547246 m/s,
      LOS rate: -0.212837 deg/s,
      cmd update: -0.851349 deg/s,
      cmd heading: 215.516801 deg,
      new cmd heading: 215.381911 deg.

2021-08-15T00:47:23.303Z,1628988443.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:47:23.665Z,1628988443.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:47:23.665Z,1628988443.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:47:23.665Z,1628988443.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:47:23.666Z,1628988443.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:47:24.069Z,1628988444.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D8,000,01270,185,80,80,64,FF
2021-08-15T00:47:24.069Z,1628988444.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:47:24.070Z,1628988444.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:47:24.071Z,1628988444.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:47:24.480Z,1628988444.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:47:24.893Z,1628988444.893 [Micromodem](INFO): Nmea in: $SNTTA,0.240753,0.240759,,,004725.30*53

2021-08-15T00:47:25.301Z,1628988445.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,0123C,186,80,80,7F,FF
2021-08-15T00:47:25.302Z,1628988445.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:47:25.758Z,1628988445.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.579987 m, bearing: 207.959630 deg, deltaT: 4.848120 s, approachRate: -0.643551 m/s, LOS rate: -0.298055 deg/s, posRepo size: 4
2021-08-15T00:47:25.772Z,1628988445.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.579987 m,
      bearing: 207.959630 deg,
      approachRate: -0.643551 m/s,
      LOS rate: -0.298055 deg/s,
      cmd update: -1.192222 deg/s,
      cmd heading: 211.402766 deg,
      new cmd heading: 211.028818 deg.

2021-08-15T00:47:28.164Z,1628988448.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:47:28.529Z,1628988448.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:47:28.529Z,1628988448.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:47:28.529Z,1628988448.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:47:28.530Z,1628988448.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:47:28.949Z,1628988448.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,0123C,186,80,80,7F,FF
2021-08-15T00:47:28.949Z,1628988448.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:47:28.950Z,1628988448.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:47:28.951Z,1628988448.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:47:29.337Z,1628988449.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:47:30.162Z,1628988450.162 [Micromodem](INFO): Nmea in: $SNTTA,0.164187,,,,004730.19*45

2021-08-15T00:47:31.012Z,1628988451.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:47:32.573Z,1628988452.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,7F,FF
2021-08-15T00:47:32.574Z,1628988452.574 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,7F,FF
2021-08-15T00:47:32.574Z,1628988452.574 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:47:33.788Z,1628988453.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:47:34.181Z,1628988454.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:47:34.181Z,1628988454.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:47:34.181Z,1628988454.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:47:34.182Z,1628988454.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:47:34.582Z,1628988454.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,7F,FF
2021-08-15T00:47:34.582Z,1628988454.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:47:34.582Z,1628988454.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:47:34.584Z,1628988454.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:47:34.997Z,1628988454.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:47:35.817Z,1628988455.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,011C5,185,80,80,64,FF
2021-08-15T00:47:35.818Z,1628988455.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:47:35.821Z,1628988455.821 [Micromodem](INFO): Nmea in: $SNTTA,0.159170,,,,004735.82*44

2021-08-15T00:47:36.251Z,1628988456.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.439987 m, bearing: 205.839485 deg, deltaT: 10.493707 s, approachRate: -0.680408 m/s, LOS rate: -0.202040 deg/s, posRepo size: 4
2021-08-15T00:47:36.257Z,1628988456.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.439987 m,
      bearing: 205.839485 deg,
      approachRate: -0.680408 m/s,
      LOS rate: -0.202040 deg/s,
      cmd update: -0.808159 deg/s,
      cmd heading: 198.863600 deg,
      new cmd heading: 198.369200 deg.

2021-08-15T00:47:38.717Z,1628988458.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:47:39.029Z,1628988459.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:47:39.029Z,1628988459.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:47:39.029Z,1628988459.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:47:39.030Z,1628988459.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:47:39.427Z,1628988459.427 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,011C5,185,80,80,64,FF
2021-08-15T00:47:39.427Z,1628988459.427 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:47:39.427Z,1628988459.427 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:47:39.429Z,1628988459.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:47:39.835Z,1628988459.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:47:40.677Z,1628988460.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F50,000,01188,186,80,80,4B,FF
2021-08-15T00:47:40.679Z,1628988460.679 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:47:40.705Z,1628988460.705 [Micromodem](INFO): Nmea in: $SNTTA,0.157083,,,,004740.66*4F

2021-08-15T00:47:41.083Z,1628988461.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.779984 m, bearing: 210.600974 deg, deltaT: 4.932466 s, approachRate: -0.742023 m/s, LOS rate: 0.965336 deg/s, posRepo size: 4
2021-08-15T00:47:41.085Z,1628988461.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.779984 m,
      bearing: 210.600974 deg,
      approachRate: -0.742023 m/s,
      LOS rate: 0.965336 deg/s,
      cmd update: 3.861345 deg/s,
      cmd heading: 194.877079 deg,
      new cmd heading: 194.623900 deg.

2021-08-15T00:47:43.489Z,1628988463.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:47:43.896Z,1628988463.896 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:47:43.897Z,1628988463.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:47:43.898Z,1628988463.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:47:43.899Z,1628988463.899 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:47:44.269Z,1628988464.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F50,000,01188,186,80,80,4B,FF
2021-08-15T00:47:44.269Z,1628988464.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:47:44.269Z,1628988464.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:47:44.271Z,1628988464.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:47:44.710Z,1628988464.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:47:45.498Z,1628988465.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,01152,187,80,80,90,FF
2021-08-15T00:47:45.499Z,1628988465.499 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:47:45.504Z,1628988465.504 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004745.50*59

2021-08-15T00:47:45.959Z,1628988465.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.539993 m, bearing: 211.193178 deg, deltaT: 4.792356 s, approachRate: -0.676075 m/s, LOS rate: 0.123573 deg/s, posRepo size: 4
2021-08-15T00:47:45.965Z,1628988465.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.539993 m,
      bearing: 211.193178 deg,
      approachRate: -0.676075 m/s,
      LOS rate: 0.123573 deg/s,
      cmd update: 0.494291 deg/s,
      cmd heading: 213.350855 deg,
      new cmd heading: 214.914484 deg.

2021-08-15T00:47:48.344Z,1628988468.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:47:48.749Z,1628988468.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:47:48.749Z,1628988468.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:47:48.750Z,1628988468.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:47:48.751Z,1628988468.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:47:49.117Z,1628988469.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,01152,187,80,80,90,FF
2021-08-15T00:47:49.117Z,1628988469.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:47:49.117Z,1628988469.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:47:49.119Z,1628988469.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:47:49.525Z,1628988469.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:47:50.370Z,1628988470.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,0111D,182,80,80,6B,FF
2021-08-15T00:47:50.371Z,1628988470.371 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:47:50.375Z,1628988470.375 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004750.35*5E

2021-08-15T00:47:50.801Z,1628988470.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.359985 m, bearing: 211.611008 deg, deltaT: 4.877347 s, approachRate: -0.651995 m/s, LOS rate: 0.085667 deg/s, posRepo size: 4
2021-08-15T00:47:50.803Z,1628988470.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.359985 m,
      bearing: 211.611008 deg,
      approachRate: -0.651995 m/s,
      LOS rate: 0.085667 deg/s,
      cmd update: 0.342670 deg/s,
      cmd heading: 215.760745 deg,
      new cmd heading: 215.944244 deg.

2021-08-15T00:47:53.222Z,1628988473.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:47:53.565Z,1628988473.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:47:53.565Z,1628988473.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:47:53.565Z,1628988473.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:47:53.566Z,1628988473.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:47:53.965Z,1628988473.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,0111D,182,80,80,6B,FF
2021-08-15T00:47:53.965Z,1628988473.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:47:53.965Z,1628988473.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:47:53.967Z,1628988473.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:47:54.381Z,1628988474.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:47:55.238Z,1628988475.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,010F7,186,80,80,5F,FF
2021-08-15T00:47:55.239Z,1628988475.239 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:47:55.243Z,1628988475.243 [Micromodem](INFO): Nmea in: $SNTTA,0.150768,,,,004755.20*4C

2021-08-15T00:47:55.620Z,1628988475.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 223.080002 m, bearing: 206.965496 deg, deltaT: 4.898831 s, approachRate: -0.465414 m/s, LOS rate: -0.948290 deg/s, posRepo size: 4
2021-08-15T00:47:55.622Z,1628988475.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.080002 m,
      bearing: 206.965496 deg,
      approachRate: -0.465414 m/s,
      LOS rate: -0.948290 deg/s,
      cmd update: -3.793160 deg/s,
      cmd heading: 217.438775 deg,
      new cmd heading: 217.539390 deg.

2021-08-15T00:47:58.058Z,1628988478.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:47:58.425Z,1628988478.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:47:58.425Z,1628988478.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:47:58.425Z,1628988478.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:47:58.426Z,1628988478.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:47:58.813Z,1628988478.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,010F7,186,80,80,5F,FF
2021-08-15T00:47:58.813Z,1628988478.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:47:58.814Z,1628988478.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:47:58.815Z,1628988478.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:47:59.264Z,1628988479.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:48:00.061Z,1628988480.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,010B9,186,80,80,92,FF
2021-08-15T00:48:00.061Z,1628988480.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:48:00.088Z,1628988480.088 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004800.05*57

2021-08-15T00:48:00.503Z,1628988480.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.360001 m, bearing: 209.398601 deg, deltaT: 4.814963 s, approachRate: -0.772592 m/s, LOS rate: 0.505322 deg/s, posRepo size: 4
2021-08-15T00:48:00.505Z,1628988480.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.360001 m,
      bearing: 209.398601 deg,
      approachRate: -0.772592 m/s,
      LOS rate: 0.505322 deg/s,
      cmd update: 2.021286 deg/s,
      cmd heading: 199.142416 deg,
      new cmd heading: 197.800836 deg.

2021-08-15T00:48:02.989Z,1628988482.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:48:03.297Z,1628988483.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:48:03.297Z,1628988483.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:48:03.297Z,1628988483.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:48:03.298Z,1628988483.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:48:03.693Z,1628988483.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,010B9,186,80,80,92,FF
2021-08-15T00:48:03.693Z,1628988483.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:48:03.693Z,1628988483.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:48:03.695Z,1628988483.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:48:04.101Z,1628988484.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:48:04.945Z,1628988484.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,01083,186,80,80,7A,FF
2021-08-15T00:48:04.945Z,1628988484.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:48:04.973Z,1628988484.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004804.93*5C

2021-08-15T00:48:05.347Z,1628988485.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.119995 m, bearing: 209.937954 deg, deltaT: 4.924385 s, approachRate: -0.657951 m/s, LOS rate: 0.109527 deg/s, posRepo size: 4
2021-08-15T00:48:05.350Z,1628988485.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.119995 m,
      bearing: 209.937954 deg,
      approachRate: -0.657951 m/s,
      LOS rate: 0.109527 deg/s,
      cmd update: 0.438108 deg/s,
      cmd heading: 209.061806 deg,
      new cmd heading: 209.648780 deg.

2021-08-15T00:48:07.762Z,1628988487.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:48:08.137Z,1628988488.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:48:08.137Z,1628988488.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:48:08.137Z,1628988488.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:48:08.138Z,1628988488.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:48:08.541Z,1628988488.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,01083,186,80,80,7A,FF
2021-08-15T00:48:08.541Z,1628988488.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:48:08.541Z,1628988488.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:48:08.543Z,1628988488.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:48:08.965Z,1628988488.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:48:09.785Z,1628988489.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,01051,183,80,80,9F,FF
2021-08-15T00:48:09.785Z,1628988489.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:48:09.789Z,1628988489.789 [Micromodem](INFO): Nmea in: $SNTTA,0.141836,,,,004809.78*43

2021-08-15T00:48:10.195Z,1628988490.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.119995 m, bearing: 209.396115 deg, deltaT: 4.727449 s, approachRate: -0.634592 m/s, LOS rate: -0.114615 deg/s, posRepo size: 4
2021-08-15T00:48:10.214Z,1628988490.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.119995 m,
      bearing: 209.396115 deg,
      approachRate: -0.634592 m/s,
      LOS rate: -0.114615 deg/s,
      cmd update: -0.458462 deg/s,
      cmd heading: 211.141633 deg,
      new cmd heading: 211.312830 deg.

2021-08-15T00:48:12.613Z,1628988492.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:48:12.985Z,1628988492.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:48:12.985Z,1628988492.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:48:12.985Z,1628988492.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:48:12.986Z,1628988492.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:48:13.389Z,1628988493.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,01051,183,80,80,9F,FF
2021-08-15T00:48:13.389Z,1628988493.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:48:13.389Z,1628988493.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:48:13.391Z,1628988493.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:48:13.796Z,1628988493.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:48:14.625Z,1628988494.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,0101C,184,80,80,87,FF
2021-08-15T00:48:14.625Z,1628988494.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:48:14.628Z,1628988494.628 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004814.63*52

2021-08-15T00:48:15.073Z,1628988495.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.939987 m, bearing: 209.430225 deg, deltaT: 4.918054 s, approachRate: -0.646599 m/s, LOS rate: 0.006936 deg/s, posRepo size: 4
2021-08-15T00:48:15.075Z,1628988495.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.939987 m,
      bearing: 209.430225 deg,
      approachRate: -0.646599 m/s,
      LOS rate: 0.006936 deg/s,
      cmd update: 0.027743 deg/s,
      cmd heading: 208.892095 deg,
      new cmd heading: 208.726118 deg.

2021-08-15T00:48:17.467Z,1628988497.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:48:17.833Z,1628988497.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:48:17.833Z,1628988497.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:48:17.833Z,1628988497.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:48:17.834Z,1628988497.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:48:18.245Z,1628988498.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,0101C,184,80,80,87,FF
2021-08-15T00:48:18.245Z,1628988498.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:48:18.245Z,1628988498.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:48:18.247Z,1628988498.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:48:18.681Z,1628988498.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:48:18.699Z,1628988498.699 [Micromodem](INFO): Nmea in: ROC,0.20.0.39330*7F

2021-08-15T00:48:18.720Z,1628988498.720 [Micromodem](ERROR): Response from modem failed NMEA checksum: ROC,0.20.0.39330*7F
 expected 0
2021-08-15T00:48:19.453Z,1628988499.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,00FE7,184,80,80,95,FF
2021-08-15T00:48:19.453Z,1628988499.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:48:19.917Z,1628988499.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.759979 m, bearing: 208.781876 deg, deltaT: 4.747941 s, approachRate: -0.669766 m/s, LOS rate: -0.136554 deg/s, posRepo size: 4
2021-08-15T00:48:19.919Z,1628988499.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.759979 m,
      bearing: 208.781876 deg,
      approachRate: -0.669766 m/s,
      LOS rate: -0.136554 deg/s,
      cmd update: -0.546215 deg/s,
      cmd heading: 209.024141 deg,
      new cmd heading: 209.036521 deg.

2021-08-15T00:48:22.303Z,1628988502.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:48:22.707Z,1628988502.707 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:48:22.707Z,1628988502.707 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:48:22.707Z,1628988502.707 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:48:22.708Z,1628988502.708 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:48:23.085Z,1628988503.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,00FE7,184,80,80,95,FF
2021-08-15T00:48:23.085Z,1628988503.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:48:23.085Z,1628988503.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:48:23.087Z,1628988503.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:48:23.507Z,1628988503.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:48:24.321Z,1628988504.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00FB2,184,80,80,A7,FF
2021-08-15T00:48:24.321Z,1628988504.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:48:24.349Z,1628988504.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004824.32*55

2021-08-15T00:48:24.785Z,1628988504.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.580002 m, bearing: 209.829654 deg, deltaT: 4.894692 s, approachRate: -0.649679 m/s, LOS rate: 0.214064 deg/s, posRepo size: 4
2021-08-15T00:48:24.787Z,1628988504.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.580002 m,
      bearing: 209.829654 deg,
      approachRate: -0.649679 m/s,
      LOS rate: 0.214064 deg/s,
      cmd update: 0.856257 deg/s,
      cmd heading: 206.350819 deg,
      new cmd heading: 206.121388 deg.

2021-08-15T00:48:27.166Z,1628988507.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:48:27.537Z,1628988507.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:48:27.537Z,1628988507.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:48:27.537Z,1628988507.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:48:27.538Z,1628988507.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:48:27.953Z,1628988507.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00FB2,184,80,80,A7,FF
2021-08-15T00:48:27.953Z,1628988507.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:48:27.953Z,1628988507.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:48:27.955Z,1628988507.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:48:28.349Z,1628988508.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:48:29.165Z,1628988509.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00F7C,185,80,80,A9,FF
2021-08-15T00:48:29.165Z,1628988509.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:48:29.169Z,1628988509.169 [Micromodem](INFO): Nmea in: $SNTTA,0.133327,,,,004829.19*48

2021-08-15T00:48:29.587Z,1628988509.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.339981 m, bearing: 208.812229 deg, deltaT: 4.829353 s, approachRate: -0.670902 m/s, LOS rate: -0.210675 deg/s, posRepo size: 4
2021-08-15T00:48:29.589Z,1628988509.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.339981 m,
      bearing: 208.812229 deg,
      approachRate: -0.670902 m/s,
      LOS rate: -0.210675 deg/s,
      cmd update: -0.842701 deg/s,
      cmd heading: 210.486222 deg,
      new cmd heading: 210.822317 deg.

2021-08-15T00:48:32.002Z,1628988512.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:48:32.386Z,1628988512.386 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:48:32.386Z,1628988512.386 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:48:32.386Z,1628988512.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:48:32.387Z,1628988512.387 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:48:32.781Z,1628988512.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,00F7C,185,80,80,A9,FF
2021-08-15T00:48:32.781Z,1628988512.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:48:32.781Z,1628988512.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:48:32.783Z,1628988512.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:48:33.197Z,1628988513.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:48:34.025Z,1628988514.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,00F49,184,80,80,A0,FF
2021-08-15T00:48:34.026Z,1628988514.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:48:34.028Z,1628988514.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004834.02*57

2021-08-15T00:48:34.448Z,1628988514.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.279984 m, bearing: 208.420873 deg, deltaT: 4.860440 s, approachRate: -0.629572 m/s, LOS rate: -0.080519 deg/s, posRepo size: 4
2021-08-15T00:48:34.450Z,1628988514.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.279984 m,
      bearing: 208.420873 deg,
      approachRate: -0.629572 m/s,
      LOS rate: -0.080519 deg/s,
      cmd update: -0.322075 deg/s,
      cmd heading: 206.390190 deg,
      new cmd heading: 206.072841 deg.

2021-08-15T00:48:36.928Z,1628988516.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:48:37.237Z,1628988517.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:48:37.237Z,1628988517.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:48:37.237Z,1628988517.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:48:37.238Z,1628988517.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:48:37.625Z,1628988517.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,00F49,184,80,80,A0,FF
2021-08-15T00:48:37.625Z,1628988517.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:48:37.626Z,1628988517.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:48:37.627Z,1628988517.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:48:38.032Z,1628988518.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:48:38.865Z,1628988518.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,00F13,183,80,80,B6,FF
2021-08-15T00:48:38.865Z,1628988518.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:48:38.874Z,1628988518.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004838.86*57

2021-08-15T00:48:39.295Z,1628988519.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.039978 m, bearing: 208.388552 deg, deltaT: 4.925884 s, approachRate: -0.657751 m/s, LOS rate: -0.006561 deg/s, posRepo size: 4
2021-08-15T00:48:39.298Z,1628988519.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.039978 m,
      bearing: 208.388552 deg,
      approachRate: -0.657751 m/s,
      LOS rate: -0.006561 deg/s,
      cmd update: -0.026245 deg/s,
      cmd heading: 204.803762 deg,
      new cmd heading: 204.702432 deg.

2021-08-15T00:48:41.687Z,1628988521.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:48:42.073Z,1628988522.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:48:42.073Z,1628988522.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:48:42.073Z,1628988522.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:48:42.074Z,1628988522.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:48:42.481Z,1628988522.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,00F13,183,80,80,B6,FF
2021-08-15T00:48:42.481Z,1628988522.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:48:42.481Z,1628988522.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:48:42.483Z,1628988522.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:48:42.902Z,1628988522.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:48:43.709Z,1628988523.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,00EE0,183,80,80,74,FF
2021-08-15T00:48:43.709Z,1628988523.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:48:43.712Z,1628988523.712 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004843.72*50

2021-08-15T00:48:44.147Z,1628988524.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.979980 m, bearing: 207.413379 deg, deltaT: 4.752068 s, approachRate: -0.643930 m/s, LOS rate: -0.205210 deg/s, posRepo size: 4
2021-08-15T00:48:44.149Z,1628988524.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.979980 m,
      bearing: 207.413379 deg,
      approachRate: -0.643930 m/s,
      LOS rate: -0.205210 deg/s,
      cmd update: -0.820841 deg/s,
      cmd heading: 204.679170 deg,
      new cmd heading: 204.668167 deg.

2021-08-15T00:48:46.549Z,1628988526.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:48:46.949Z,1628988526.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:48:46.949Z,1628988526.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:48:46.949Z,1628988526.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:48:46.950Z,1628988526.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:48:47.325Z,1628988527.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,00EE0,183,80,80,74,FF
2021-08-15T00:48:47.325Z,1628988527.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:48:47.326Z,1628988527.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:48:47.332Z,1628988527.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:48:47.736Z,1628988527.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:48:48.141Z,1628988528.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,006B5,185,80,80,AD,FF
2021-08-15T00:48:48.141Z,1628988528.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:48:48.573Z,1628988528.573 [Micromodem](INFO): Nmea in: $SNTTA,0.043454,,,,004848.57*40

2021-08-15T00:48:48.595Z,1628988528.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.520004 m, bearing: 208.253274 deg, deltaT: 4.459906 s, approachRate: -28.130632 m/s, LOS rate: 0.188321 deg/s, posRepo size: 4
2021-08-15T00:48:48.598Z,1628988528.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.520004 m,
      bearing: 208.253274 deg,
      approachRate: -28.130632 m/s,
      LOS rate: 0.188321 deg/s,
      cmd update: 0.753285 deg/s,
      cmd heading: 201.033943 deg,
      new cmd heading: 200.683815 deg.

2021-08-15T00:48:51.038Z,1628988531.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:48:51.373Z,1628988531.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:48:51.373Z,1628988531.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:48:51.373Z,1628988531.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:48:51.374Z,1628988531.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:48:51.777Z,1628988531.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,006B5,185,80,80,AD,FF
2021-08-15T00:48:51.777Z,1628988531.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:48:51.777Z,1628988531.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:48:51.779Z,1628988531.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:48:52.181Z,1628988532.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:48:53.005Z,1628988533.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00E76,184,80,80,AB,FF
2021-08-15T00:48:53.005Z,1628988533.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:48:53.008Z,1628988533.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004853.02*56

2021-08-15T00:48:53.427Z,1628988533.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.620010 m, bearing: 208.780441 deg, deltaT: 4.909467 s, approachRate: 24.259254 m/s, LOS rate: 0.107378 deg/s, posRepo size: 4
2021-08-15T00:48:53.430Z,1628988533.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.620010 m,
      bearing: 208.780441 deg,
      approachRate: 24.259254 m/s,
      LOS rate: 0.107378 deg/s,
      cmd update: 0.429511 deg/s,
      cmd heading: 204.747283 deg,
      new cmd heading: 204.995061 deg.

2021-08-15T00:48:55.963Z,1628988535.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:48:56.226Z,1628988536.226 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:48:56.226Z,1628988536.226 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:48:56.226Z,1628988536.226 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:48:56.227Z,1628988536.227 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:48:56.617Z,1628988536.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00E76,184,80,80,AB,FF
2021-08-15T00:48:56.617Z,1628988536.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:48:56.618Z,1628988536.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:48:56.623Z,1628988536.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:48:57.037Z,1628988537.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:48:57.432Z,1628988537.432 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,00E76,184,80,80,AB,FF
2021-08-15T00:48:57.432Z,1628988537.432 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:48:57.868Z,1628988537.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004857.86*5E

2021-08-15T00:48:57.923Z,1628988537.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.620010 m, bearing: 207.953756 deg, deltaT: 4.354614 s, approachRate: 0.000000 m/s, LOS rate: -0.189841 deg/s, posRepo size: 4
2021-08-15T00:48:57.929Z,1628988537.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.620010 m,
      bearing: 207.953756 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.189841 deg/s,
      cmd update: -0.759365 deg/s,
      cmd heading: 206.618561 deg,
      new cmd heading: 206.819434 deg.

2021-08-15T00:49:00.305Z,1628988540.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:49:00.672Z,1628988540.672 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:49:00.672Z,1628988540.672 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:49:00.673Z,1628988540.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:49:00.674Z,1628988540.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:49:01.069Z,1628988541.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,00E76,184,80,80,AB,FF
2021-08-15T00:49:01.069Z,1628988541.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:49:01.069Z,1628988541.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:49:01.071Z,1628988541.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:49:01.492Z,1628988541.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:49:01.907Z,1628988541.907 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,00E76,184,80,80,AB,FF
2021-08-15T00:49:01.908Z,1628988541.908 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:49:02.315Z,1628988542.315 [Micromodem](INFO): Nmea in: $SNTTA,0.120638,,,,004902.30*42

2021-08-15T00:49:02.330Z,1628988542.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.620010 m, bearing: 209.475700 deg, deltaT: 4.493168 s, approachRate: 0.000000 m/s, LOS rate: 0.338724 deg/s, posRepo size: 4
2021-08-15T00:49:02.333Z,1628988542.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.620010 m,
      bearing: 209.475700 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.338724 deg/s,
      cmd update: 1.354896 deg/s,
      cmd heading: 203.214282 deg,
      new cmd heading: 202.916413 deg.

2021-08-15T00:49:04.802Z,1628988544.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:49:05.121Z,1628988545.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:49:05.121Z,1628988545.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:49:05.121Z,1628988545.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:49:05.122Z,1628988545.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:49:05.505Z,1628988545.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,00E76,184,80,80,AB,FF
2021-08-15T00:49:05.505Z,1628988545.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:49:05.505Z,1628988545.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:49:05.507Z,1628988545.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:49:05.945Z,1628988545.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:49:06.325Z,1628988546.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,00D76,184,80,80,AB,FF
2021-08-15T00:49:06.325Z,1628988546.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:49:06.773Z,1628988546.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004906.74*56

2021-08-15T00:49:06.822Z,1628988546.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.260010 m, bearing: 209.698105 deg, deltaT: 4.399420 s, approachRate: -3.491369 m/s, LOS rate: 0.050553 deg/s, posRepo size: 4
2021-08-15T00:49:06.824Z,1628988546.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.260010 m,
      bearing: 209.698105 deg,
      approachRate: -3.491369 m/s,
      LOS rate: 0.050553 deg/s,
      cmd update: 0.202213 deg/s,
      cmd heading: 209.188426 deg,
      new cmd heading: 209.830845 deg.

2021-08-15T00:49:09.195Z,1628988549.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:49:09.545Z,1628988549.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:49:09.545Z,1628988549.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:49:09.545Z,1628988549.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:49:09.546Z,1628988549.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:49:09.954Z,1628988549.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,00D76,184,80,80,AB,FF
2021-08-15T00:49:09.954Z,1628988549.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:49:09.955Z,1628988549.955 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:49:09.957Z,1628988549.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:49:10.357Z,1628988550.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:49:10.762Z,1628988550.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,00D76,184,80,80,AB,FF
2021-08-15T00:49:10.763Z,1628988550.763 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:49:11.198Z,1628988551.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004911.20*51

2021-08-15T00:49:11.249Z,1628988551.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.260010 m, bearing: 208.759678 deg, deltaT: 4.557152 s, approachRate: 0.000000 m/s, LOS rate: -0.205924 deg/s, posRepo size: 4
2021-08-15T00:49:11.251Z,1628988551.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.260010 m,
      bearing: 208.759678 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.205924 deg/s,
      cmd update: -0.823696 deg/s,
      cmd heading: 210.104936 deg,
      new cmd heading: 210.179584 deg.

2021-08-15T00:49:13.607Z,1628988553.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:49:13.993Z,1628988553.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:49:13.994Z,1628988553.994 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:49:13.994Z,1628988553.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:49:13.995Z,1628988553.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:49:14.393Z,1628988554.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,00D76,184,80,80,AB,FF
2021-08-15T00:49:14.393Z,1628988554.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:49:14.393Z,1628988554.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:49:14.395Z,1628988554.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:49:14.803Z,1628988554.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:49:15.210Z,1628988555.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00D83,184,80,80,AB,FF
2021-08-15T00:49:15.210Z,1628988555.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:49:15.642Z,1628988555.642 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004915.63*52

2021-08-15T00:49:15.684Z,1628988555.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.039993 m, bearing: 209.384640 deg, deltaT: 4.368550 s, approachRate: 0.178545 m/s, LOS rate: 0.143059 deg/s, posRepo size: 4
2021-08-15T00:49:15.686Z,1628988555.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.039993 m,
      bearing: 209.384640 deg,
      approachRate: 0.178545 m/s,
      LOS rate: 0.143059 deg/s,
      cmd update: 0.572238 deg/s,
      cmd heading: 206.484385 deg,
      new cmd heading: 206.148120 deg.

2021-08-15T00:49:18.120Z,1628988558.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:49:18.437Z,1628988558.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:49:18.437Z,1628988558.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:49:18.437Z,1628988558.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:49:18.438Z,1628988558.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:49:18.837Z,1628988558.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00D83,184,80,80,AB,FF
2021-08-15T00:49:18.837Z,1628988558.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:49:18.837Z,1628988558.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:49:18.839Z,1628988558.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:49:19.261Z,1628988559.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:49:19.645Z,1628988559.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00D53,184,80,80,AB,FF
2021-08-15T00:49:19.646Z,1628988559.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:49:20.095Z,1628988560.095 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004920.08*59

2021-08-15T00:49:20.121Z,1628988560.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.159988 m, bearing: 209.386949 deg, deltaT: 4.447282 s, approachRate: -0.647588 m/s, LOS rate: 0.000519 deg/s, posRepo size: 4
2021-08-15T00:49:20.123Z,1628988560.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.159988 m,
      bearing: 209.386949 deg,
      approachRate: -0.647588 m/s,
      LOS rate: 0.000519 deg/s,
      cmd update: 0.002076 deg/s,
      cmd heading: 209.023600 deg,
      new cmd heading: 209.257023 deg.

2021-08-15T00:49:22.495Z,1628988562.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:49:22.900Z,1628988562.900 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:49:22.900Z,1628988562.900 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:49:22.900Z,1628988562.900 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:49:22.901Z,1628988562.901 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:49:23.296Z,1628988563.296 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00D53,184,80,80,AB,FF
2021-08-15T00:49:23.296Z,1628988563.296 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:49:23.297Z,1628988563.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:49:23.298Z,1628988563.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:49:23.693Z,1628988563.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:49:24.088Z,1628988564.088 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,028,000,00D53,184,80,80,AB,FF
2021-08-15T00:49:24.089Z,1628988564.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:49:24.531Z,1628988564.531 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004924.53*53

2021-08-15T00:49:24.578Z,1628988564.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.159988 m, bearing: 208.691266 deg, deltaT: 4.417276 s, approachRate: 0.000000 m/s, LOS rate: -0.157491 deg/s, posRepo size: 4
2021-08-15T00:49:24.581Z,1628988564.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.159988 m,
      bearing: 208.691266 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.157491 deg/s,
      cmd update: -0.629965 deg/s,
      cmd heading: 209.032758 deg,
      new cmd heading: 209.033699 deg.

2021-08-15T00:49:27.037Z,1628988567.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:49:27.329Z,1628988567.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:49:27.329Z,1628988567.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:49:27.329Z,1628988567.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:49:27.330Z,1628988567.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:49:27.729Z,1628988567.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
028,000,00D53,184,80,80,AB,FF
2021-08-15T00:49:27.729Z,1628988567.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:49:27.729Z,1628988567.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:49:27.731Z,1628988567.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:49:28.133Z,1628988568.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:49:28.544Z,1628988568.544 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,00CED,183,80,80,AB,FF
2021-08-15T00:49:28.545Z,1628988568.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:49:28.981Z,1628988568.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004928.97*57

2021-08-15T00:49:29.047Z,1628988569.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.039993 m, bearing: 208.990593 deg, deltaT: 4.425694 s, approachRate: -1.382833 m/s, LOS rate: 0.067634 deg/s, posRepo size: 4
2021-08-15T00:49:29.050Z,1628988569.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.039993 m,
      bearing: 208.990593 deg,
      approachRate: -1.382833 m/s,
      LOS rate: 0.067634 deg/s,
      cmd update: 0.270535 deg/s,
      cmd heading: 206.234871 deg,
      new cmd heading: 205.930844 deg.

2021-08-15T00:49:31.391Z,1628988571.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:49:31.765Z,1628988571.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:49:31.765Z,1628988571.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:49:31.765Z,1628988571.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:49:31.766Z,1628988571.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:49:32.177Z,1628988572.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,00CED,183,80,80,AB,FF
2021-08-15T00:49:32.177Z,1628988572.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:49:32.177Z,1628988572.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:49:32.179Z,1628988572.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:49:32.582Z,1628988572.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:49:32.978Z,1628988572.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00CBD,182,80,80,AB,FF
2021-08-15T00:49:32.978Z,1628988572.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:49:33.421Z,1628988573.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004933.41*56

2021-08-15T00:49:33.444Z,1628988573.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.160004 m, bearing: 208.991139 deg, deltaT: 4.492915 s, approachRate: -0.641007 m/s, LOS rate: 0.000122 deg/s, posRepo size: 4
2021-08-15T00:49:33.446Z,1628988573.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.160004 m,
      bearing: 208.991139 deg,
      approachRate: -0.641007 m/s,
      LOS rate: 0.000122 deg/s,
      cmd update: 0.000486 deg/s,
      cmd heading: 207.450591 deg,
      new cmd heading: 207.554861 deg.

2021-08-15T00:49:35.831Z,1628988575.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:49:36.218Z,1628988576.218 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:49:36.218Z,1628988576.218 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:49:36.218Z,1628988576.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:49:36.219Z,1628988576.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:49:36.623Z,1628988576.623 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,00CBD,182,80,80,AB,FF
2021-08-15T00:49:36.623Z,1628988576.623 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:49:36.623Z,1628988576.623 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:49:36.625Z,1628988576.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:49:37.033Z,1628988577.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:49:37.422Z,1628988577.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00C8F,183,80,80,AB,FF
2021-08-15T00:49:37.422Z,1628988577.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:49:37.865Z,1628988577.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004937.86*59

2021-08-15T00:49:37.946Z,1628988577.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.400009 m, bearing: 207.945505 deg, deltaT: 4.385762 s, approachRate: -0.629308 m/s, LOS rate: -0.238416 deg/s, posRepo size: 4
2021-08-15T00:49:37.952Z,1628988577.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.400009 m,
      bearing: 207.945505 deg,
      approachRate: -0.629308 m/s,
      LOS rate: -0.238416 deg/s,
      cmd update: -0.953662 deg/s,
      cmd heading: 207.452724 deg,
      new cmd heading: 207.452968 deg.

2021-08-15T00:49:40.286Z,1628988580.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:49:40.663Z,1628988580.663 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:49:40.664Z,1628988580.664 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:49:40.665Z,1628988580.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:49:40.666Z,1628988580.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:49:41.069Z,1628988581.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00C8F,183,80,80,AB,FF
2021-08-15T00:49:41.069Z,1628988581.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:49:41.070Z,1628988581.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:49:41.071Z,1628988581.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:49:41.464Z,1628988581.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:49:41.889Z,1628988581.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,00C5C,183,80,80,9A,FF
2021-08-15T00:49:41.890Z,1628988581.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:49:42.305Z,1628988582.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004942.31*57

2021-08-15T00:49:42.337Z,1628988582.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.340012 m, bearing: 208.357981 deg, deltaT: 4.518788 s, approachRate: -0.677172 m/s, LOS rate: 0.091280 deg/s, posRepo size: 4
2021-08-15T00:49:42.339Z,1628988582.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.340012 m,
      bearing: 208.357981 deg,
      approachRate: -0.677172 m/s,
      LOS rate: 0.091280 deg/s,
      cmd update: 0.365120 deg/s,
      cmd heading: 203.147346 deg,
      new cmd heading: 202.787410 deg.

2021-08-15T00:49:44.779Z,1628988584.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:49:45.105Z,1628988585.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:49:45.105Z,1628988585.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:49:45.105Z,1628988585.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:49:45.106Z,1628988585.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:49:45.501Z,1628988585.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,00C5C,183,80,80,9A,FF
2021-08-15T00:49:45.501Z,1628988585.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:49:45.501Z,1628988585.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:49:45.503Z,1628988585.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:49:45.945Z,1628988585.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:49:46.321Z,1628988586.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,00C29,183,80,80,BD,FF
2021-08-15T00:49:46.321Z,1628988586.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:49:46.757Z,1628988586.757 [Micromodem](INFO): Nmea in: $SNTTA,0.106605,,,,004946.74*48

2021-08-15T00:49:46.831Z,1628988586.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.279999 m, bearing: 208.339443 deg, deltaT: 4.376068 s, approachRate: -0.699261 m/s, LOS rate: -0.004236 deg/s, posRepo size: 4
2021-08-15T00:49:46.837Z,1628988586.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.279999 m,
      bearing: 208.339443 deg,
      approachRate: -0.699261 m/s,
      LOS rate: -0.004236 deg/s,
      cmd update: -0.016944 deg/s,
      cmd heading: 204.746461 deg,
      new cmd heading: 204.926150 deg.

2021-08-15T00:49:49.166Z,1628988589.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:49:49.546Z,1628988589.546 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:49:49.547Z,1628988589.547 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:49:49.547Z,1628988589.547 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:49:49.548Z,1628988589.548 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:49:49.949Z,1628988589.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,00C29,183,80,80,BD,FF
2021-08-15T00:49:49.949Z,1628988589.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:49:49.949Z,1628988589.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:49:49.951Z,1628988589.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:49:50.358Z,1628988590.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:49:50.758Z,1628988590.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,00BFA,183,80,80,A9,FF
2021-08-15T00:49:50.758Z,1628988590.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:49:51.198Z,1628988591.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004951.19*5F

2021-08-15T00:49:51.263Z,1628988591.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.460007 m, bearing: 207.524124 deg, deltaT: 4.480599 s, approachRate: -0.629378 m/s, LOS rate: -0.181967 deg/s, posRepo size: 4
2021-08-15T00:49:51.269Z,1628988591.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.460007 m,
      bearing: 207.524124 deg,
      approachRate: -0.629378 m/s,
      LOS rate: -0.181967 deg/s,
      cmd update: -0.727867 deg/s,
      cmd heading: 204.670535 deg,
      new cmd heading: 204.663020 deg.

2021-08-15T00:49:53.610Z,1628988593.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:49:53.993Z,1628988593.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:49:53.993Z,1628988593.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:49:53.993Z,1628988593.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:49:53.994Z,1628988593.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:49:54.393Z,1628988594.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,00BFA,183,80,80,A9,FF
2021-08-15T00:49:54.393Z,1628988594.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:49:54.393Z,1628988594.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:49:54.395Z,1628988594.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:49:54.797Z,1628988594.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:49:55.210Z,1628988595.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD2,000,00BC8,184,80,80,A9,FF
2021-08-15T00:49:55.211Z,1628988595.211 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:49:55.637Z,1628988595.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004955.63*56

2021-08-15T00:49:55.661Z,1628988595.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.460007 m, bearing: 208.904122 deg, deltaT: 4.446126 s, approachRate: -0.674745 m/s, LOS rate: 0.310382 deg/s, posRepo size: 4
2021-08-15T00:49:55.663Z,1628988595.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.460007 m,
      bearing: 208.904122 deg,
      approachRate: -0.674745 m/s,
      LOS rate: 0.310382 deg/s,
      cmd update: 1.241529 deg/s,
      cmd heading: 201.434334 deg,
      new cmd heading: 201.147001 deg.

2021-08-15T00:49:58.082Z,1628988598.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:49:58.429Z,1628988598.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:49:58.429Z,1628988598.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:49:58.429Z,1628988598.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:49:58.430Z,1628988598.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:49:58.833Z,1628988598.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD2,000,00BC8,184,80,80,A9,FF
2021-08-15T00:49:58.833Z,1628988598.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:49:58.833Z,1628988598.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:49:58.835Z,1628988598.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:49:59.257Z,1628988599.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:49:59.653Z,1628988599.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,00B98,185,80,80,B1,FF
2021-08-15T00:49:59.653Z,1628988599.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:50:00.082Z,1628988600.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005000.07*5C

2021-08-15T00:50:00.108Z,1628988600.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.580002 m, bearing: 208.299541 deg, deltaT: 4.429101 s, approachRate: -0.650246 m/s, LOS rate: -0.136502 deg/s, posRepo size: 4
2021-08-15T00:50:00.110Z,1628988600.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.580002 m,
      bearing: 208.299541 deg,
      approachRate: -0.650246 m/s,
      LOS rate: -0.136502 deg/s,
      cmd update: -0.546008 deg/s,
      cmd heading: 206.933408 deg,
      new cmd heading: 207.445872 deg.

2021-08-15T00:50:02.499Z,1628988602.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:50:02.909Z,1628988602.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:50:02.909Z,1628988602.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:50:02.909Z,1628988602.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:50:02.910Z,1628988602.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:50:03.293Z,1628988603.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,00B98,185,80,80,B1,FF
2021-08-15T00:50:03.293Z,1628988603.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:50:03.293Z,1628988603.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:50:03.295Z,1628988603.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:50:03.697Z,1628988603.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:50:04.093Z,1628988604.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,00B66,183,80,80,95,FF
2021-08-15T00:50:04.093Z,1628988604.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:50:04.517Z,1628988604.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005004.53*59

2021-08-15T00:50:04.548Z,1628988604.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.580002 m, bearing: 207.111963 deg, deltaT: 4.466703 s, approachRate: -0.671636 m/s, LOS rate: -0.265874 deg/s, posRepo size: 4
2021-08-15T00:50:04.550Z,1628988604.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.580002 m,
      bearing: 207.111963 deg,
      approachRate: -0.671636 m/s,
      LOS rate: -0.265874 deg/s,
      cmd update: -1.063495 deg/s,
      cmd heading: 204.496729 deg,
      new cmd heading: 204.283577 deg.

2021-08-15T00:50:07.009Z,1628988607.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:50:07.321Z,1628988607.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:50:07.321Z,1628988607.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:50:07.321Z,1628988607.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:50:07.322Z,1628988607.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:50:07.721Z,1628988607.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,00B66,183,80,80,95,FF
2021-08-15T00:50:07.721Z,1628988607.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:50:07.721Z,1628988607.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:50:07.723Z,1628988607.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:50:08.129Z,1628988608.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:50:08.533Z,1628988608.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,00B34,183,80,80,BA,FF
2021-08-15T00:50:08.533Z,1628988608.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:50:08.989Z,1628988608.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005008.96*5C

2021-08-15T00:50:09.053Z,1628988609.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.580002 m, bearing: 207.604843 deg, deltaT: 4.388930 s, approachRate: -0.683538 m/s, LOS rate: 0.112301 deg/s, posRepo size: 4
2021-08-15T00:50:09.055Z,1628988609.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.580002 m,
      bearing: 207.604843 deg,
      approachRate: -0.683538 m/s,
      LOS rate: 0.112301 deg/s,
      cmd update: 0.449203 deg/s,
      cmd heading: 199.824819 deg,
      new cmd heading: 199.295183 deg.

2021-08-15T00:50:11.398Z,1628988611.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:50:11.765Z,1628988611.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:50:11.765Z,1628988611.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:50:11.765Z,1628988611.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:50:11.766Z,1628988611.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:50:12.165Z,1628988612.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,00B34,183,80,80,BA,FF
2021-08-15T00:50:12.165Z,1628988612.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:50:12.165Z,1628988612.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:50:12.167Z,1628988612.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:50:12.576Z,1628988612.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:50:12.993Z,1628988612.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,00B06,184,80,80,C4,FF
2021-08-15T00:50:12.993Z,1628988612.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:50:13.423Z,1628988613.423 [Micromodem](INFO): Nmea in: $SNTTA,0.090057,,,,005013.40*48

2021-08-15T00:50:13.444Z,1628988613.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.820007 m, bearing: 208.489872 deg, deltaT: 4.531552 s, approachRate: -0.609062 m/s, LOS rate: 0.195304 deg/s, posRepo size: 4
2021-08-15T00:50:13.446Z,1628988613.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.820007 m,
      bearing: 208.489872 deg,
      approachRate: -0.609062 m/s,
      LOS rate: 0.195304 deg/s,
      cmd update: 0.781215 deg/s,
      cmd heading: 201.860314 deg,
      new cmd heading: 202.022735 deg.

2021-08-15T00:50:15.827Z,1628988615.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:50:16.222Z,1628988616.222 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:50:16.222Z,1628988616.222 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:50:16.222Z,1628988616.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:50:16.222Z,1628988616.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:50:16.620Z,1628988616.620 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,00B06,184,80,80,C4,FF
2021-08-15T00:50:16.620Z,1628988616.620 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:50:16.621Z,1628988616.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:50:16.623Z,1628988616.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:50:17.021Z,1628988617.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:50:17.041Z,1628988617.041 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T00:50:17.434Z,1628988617.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00AD3,184,80,80,A7,FF
2021-08-15T00:50:17.434Z,1628988617.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:50:17.868Z,1628988617.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005017.87*52

2021-08-15T00:50:17.924Z,1628988617.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.760010 m, bearing: 208.846394 deg, deltaT: 4.369160 s, approachRate: -0.700363 m/s, LOS rate: 0.081600 deg/s, posRepo size: 4
2021-08-15T00:50:17.926Z,1628988617.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.760010 m,
      bearing: 208.846394 deg,
      approachRate: -0.700363 m/s,
      LOS rate: 0.081600 deg/s,
      cmd update: 0.326399 deg/s,
      cmd heading: 205.273631 deg,
      new cmd heading: 205.642947 deg.

2021-08-15T00:50:20.302Z,1628988620.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:50:20.689Z,1628988620.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:50:20.689Z,1628988620.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:50:20.690Z,1628988620.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:50:20.691Z,1628988620.691 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:50:21.089Z,1628988621.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00AD3,184,80,80,A7,FF
2021-08-15T00:50:21.089Z,1628988621.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:50:21.089Z,1628988621.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:50:21.091Z,1628988621.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:50:21.531Z,1628988621.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:50:21.917Z,1628988621.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD2,000,00AA2,185,80,80,B7,FF
2021-08-15T00:50:21.917Z,1628988621.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:50:22.341Z,1628988622.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005022.33*5B

2021-08-15T00:50:22.364Z,1628988622.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.820000 m, bearing: 208.670694 deg, deltaT: 4.535321 s, approachRate: -0.648247 m/s, LOS rate: -0.038740 deg/s, posRepo size: 4
2021-08-15T00:50:22.366Z,1628988622.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.820000 m,
      bearing: 208.670694 deg,
      approachRate: -0.648247 m/s,
      LOS rate: -0.038740 deg/s,
      cmd update: -0.154961 deg/s,
      cmd heading: 206.748698 deg,
      new cmd heading: 206.877182 deg.

2021-08-15T00:50:24.793Z,1628988624.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:50:25.125Z,1628988625.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:50:25.125Z,1628988625.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:50:25.125Z,1628988625.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:50:25.126Z,1628988625.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:50:25.533Z,1628988625.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD2,000,00AA2,185,80,80,B7,FF
2021-08-15T00:50:25.533Z,1628988625.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:50:25.534Z,1628988625.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:50:25.535Z,1628988625.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:50:25.949Z,1628988625.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:50:26.354Z,1628988626.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,00A6E,183,80,80,B3,FF
2021-08-15T00:50:26.354Z,1628988626.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:50:26.773Z,1628988626.773 [Micromodem](INFO): Nmea in: $SNTTA,,0.085232,,,005026.77*4F

2021-08-15T00:50:26.833Z,1628988626.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.699997 m, bearing: 208.072096 deg, deltaT: 4.385066 s, approachRate: -0.711506 m/s, LOS rate: -0.136508 deg/s, posRepo size: 4
2021-08-15T00:50:26.835Z,1628988626.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.699997 m,
      bearing: 208.072096 deg,
      approachRate: -0.711506 m/s,
      LOS rate: -0.136508 deg/s,
      cmd update: -0.546033 deg/s,
      cmd heading: 206.066701 deg,
      new cmd heading: 205.995821 deg.

2021-08-15T00:50:29.206Z,1628988629.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:50:29.581Z,1628988629.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:50:29.581Z,1628988629.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:50:29.582Z,1628988629.582 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:50:29.583Z,1628988629.583 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:50:29.973Z,1628988629.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,00A6E,183,80,80,B3,FF
2021-08-15T00:50:29.973Z,1628988629.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:50:29.973Z,1628988629.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:50:29.975Z,1628988629.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:50:30.393Z,1628988630.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:50:30.790Z,1628988630.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00A3F,182,80,80,A7,FF
2021-08-15T00:50:30.790Z,1628988630.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:50:31.234Z,1628988631.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005031.21*5A

2021-08-15T00:50:31.289Z,1628988631.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.880005 m, bearing: 207.994724 deg, deltaT: 4.476187 s, approachRate: -0.629999 m/s, LOS rate: -0.017285 deg/s, posRepo size: 4
2021-08-15T00:50:31.291Z,1628988631.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.880005 m,
      bearing: 207.994724 deg,
      approachRate: -0.629999 m/s,
      LOS rate: -0.017285 deg/s,
      cmd update: -0.069141 deg/s,
      cmd heading: 203.631249 deg,
      new cmd heading: 203.384196 deg.

2021-08-15T00:50:33.659Z,1628988633.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:50:34.021Z,1628988634.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:50:34.021Z,1628988634.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:50:34.022Z,1628988634.022 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:50:34.022Z,1628988634.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:50:34.436Z,1628988634.436 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00A3F,182,80,80,A7,FF
2021-08-15T00:50:34.437Z,1628988634.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:50:34.437Z,1628988634.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:50:34.438Z,1628988634.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:50:34.829Z,1628988634.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:50:35.245Z,1628988635.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,00A0D,183,80,80,B3,FF
2021-08-15T00:50:35.246Z,1628988635.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:50:35.661Z,1628988635.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005035.67*5C

2021-08-15T00:50:35.699Z,1628988635.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.880005 m, bearing: 207.680002 deg, deltaT: 4.434878 s, approachRate: -0.676456 m/s, LOS rate: -0.070965 deg/s, posRepo size: 4
2021-08-15T00:50:35.706Z,1628988635.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.880005 m,
      bearing: 207.680002 deg,
      approachRate: -0.676456 m/s,
      LOS rate: -0.070965 deg/s,
      cmd update: -0.283860 deg/s,
      cmd heading: 203.324892 deg,
      new cmd heading: 203.294694 deg.

2021-08-15T00:50:38.099Z,1628988638.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:50:38.466Z,1628988638.466 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:50:38.466Z,1628988638.466 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:50:38.466Z,1628988638.466 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:50:38.467Z,1628988638.467 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:50:38.869Z,1628988638.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,00A0D,183,80,80,B3,FF
2021-08-15T00:50:38.869Z,1628988638.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:50:38.870Z,1628988638.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:50:38.876Z,1628988638.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:50:39.281Z,1628988639.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:50:39.673Z,1628988639.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,009DC,183,80,80,BB,FF
2021-08-15T00:50:39.674Z,1628988639.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:50:40.129Z,1628988640.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005040.11*5F

2021-08-15T00:50:40.171Z,1628988640.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.940002 m, bearing: 207.636658 deg, deltaT: 4.441000 s, approachRate: -0.662014 m/s, LOS rate: -0.009760 deg/s, posRepo size: 4
2021-08-15T00:50:40.178Z,1628988640.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.940002 m,
      bearing: 207.636658 deg,
      approachRate: -0.662014 m/s,
      LOS rate: -0.009760 deg/s,
      cmd update: -0.039040 deg/s,
      cmd heading: 202.059704 deg,
      new cmd heading: 201.931562 deg.

2021-08-15T00:50:42.539Z,1628988642.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:50:42.925Z,1628988642.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:50:42.925Z,1628988642.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:50:42.925Z,1628988642.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:50:42.926Z,1628988642.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:50:43.306Z,1628988643.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,009DC,183,80,80,BB,FF
2021-08-15T00:50:43.306Z,1628988643.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:50:43.306Z,1628988643.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:50:43.309Z,1628988643.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:50:43.720Z,1628988643.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:50:44.134Z,1628988644.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,009AA,184,80,80,C6,FF
2021-08-15T00:50:44.135Z,1628988644.135 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:50:44.557Z,1628988644.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005044.54*5A

2021-08-15T00:50:44.581Z,1628988644.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.939995 m, bearing: 206.785548 deg, deltaT: 4.490592 s, approachRate: -0.668065 m/s, LOS rate: -0.189532 deg/s, posRepo size: 4
2021-08-15T00:50:44.583Z,1628988644.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.939995 m,
      bearing: 206.785548 deg,
      approachRate: -0.668065 m/s,
      LOS rate: -0.189532 deg/s,
      cmd update: -0.758127 deg/s,
      cmd heading: 201.884662 deg,
      new cmd heading: 201.869943 deg.

2021-08-15T00:50:47.023Z,1628988647.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:50:47.346Z,1628988647.346 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:50:47.346Z,1628988647.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:50:47.347Z,1628988647.347 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:50:47.348Z,1628988647.348 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:50:47.749Z,1628988647.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,009AA,184,80,80,C6,FF
2021-08-15T00:50:47.749Z,1628988647.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:50:47.749Z,1628988647.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:50:47.751Z,1628988647.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:50:48.165Z,1628988648.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:50:48.557Z,1628988648.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,00976,183,80,80,C2,FF
2021-08-15T00:50:48.558Z,1628988648.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:50:49.002Z,1628988649.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005048.99*57

2021-08-15T00:50:49.102Z,1628988649.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.820000 m, bearing: 205.879920 deg, deltaT: 4.359998 s, approachRate: -0.715596 m/s, LOS rate: -0.207713 deg/s, posRepo size: 4
2021-08-15T00:50:49.108Z,1628988649.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.820000 m,
      bearing: 205.879920 deg,
      approachRate: -0.715596 m/s,
      LOS rate: -0.207713 deg/s,
      cmd update: -0.830852 deg/s,
      cmd heading: 198.570919 deg,
      new cmd heading: 198.171247 deg.

2021-08-15T00:50:51.079Z,1628988651.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:50:51.385Z,1628988651.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:50:51.385Z,1628988651.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:50:51.385Z,1628988651.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:50:51.386Z,1628988651.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:50:51.794Z,1628988651.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,00976,183,80,80,C2,FF
2021-08-15T00:50:51.794Z,1628988651.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:50:51.794Z,1628988651.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:50:51.796Z,1628988651.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:50:52.202Z,1628988652.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:50:52.597Z,1628988652.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,0094E,187,80,80,B9,FF
2021-08-15T00:50:52.598Z,1628988652.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:50:53.045Z,1628988653.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005053.03*5E

2021-08-15T00:50:53.143Z,1628988653.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.419998 m, bearing: 207.056925 deg, deltaT: 4.045528 s, approachRate: -0.593248 m/s, LOS rate: 0.290940 deg/s, posRepo size: 4
2021-08-15T00:50:53.145Z,1628988653.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.419998 m,
      bearing: 207.056925 deg,
      approachRate: -0.593248 m/s,
      LOS rate: 0.290940 deg/s,
      cmd update: 1.163760 deg/s,
      cmd heading: 195.213402 deg,
      new cmd heading: 194.774907 deg.

2021-08-15T00:50:55.454Z,1628988655.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:50:55.833Z,1628988655.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:50:55.833Z,1628988655.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:50:55.833Z,1628988655.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:50:55.834Z,1628988655.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:50:56.234Z,1628988656.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,0094E,187,80,80,B9,FF
2021-08-15T00:50:56.234Z,1628988656.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:50:56.235Z,1628988656.235 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:50:56.236Z,1628988656.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:50:56.655Z,1628988656.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:50:57.041Z,1628988657.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,0091A,186,80,80,46,FF
2021-08-15T00:50:57.041Z,1628988657.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:50:57.477Z,1628988657.477 [Micromodem](INFO): Nmea in: $SNTTA,0.073286,,,,005057.47*4C

2021-08-15T00:50:57.499Z,1628988657.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.300003 m, bearing: 206.187142 deg, deltaT: 4.526705 s, approachRate: -0.689242 m/s, LOS rate: -0.192145 deg/s, posRepo size: 4
2021-08-15T00:50:57.526Z,1628988657.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.300003 m,
      bearing: 206.187142 deg,
      approachRate: -0.689242 m/s,
      LOS rate: -0.192145 deg/s,
      cmd update: -0.768580 deg/s,
      cmd heading: 200.474438 deg,
      new cmd heading: 200.897269 deg.

2021-08-15T00:50:59.931Z,1628988659.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:51:00.285Z,1628988660.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:51:00.285Z,1628988660.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:51:00.286Z,1628988660.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:51:00.287Z,1628988660.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:51:00.713Z,1628988660.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,0091A,186,80,80,46,FF
2021-08-15T00:51:00.713Z,1628988660.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:51:00.713Z,1628988660.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:51:00.715Z,1628988660.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:51:01.121Z,1628988661.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:51:01.497Z,1628988661.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,008E8,187,80,80,B2,FF
2021-08-15T00:51:01.498Z,1628988661.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:51:01.941Z,1628988661.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.300003 m, bearing: 206.826297 deg, deltaT: 4.368328 s, approachRate: -0.686762 m/s, LOS rate: 0.146316 deg/s, posRepo size: 4
2021-08-15T00:51:01.943Z,1628988661.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.300003 m,
      bearing: 206.826297 deg,
      approachRate: -0.686762 m/s,
      LOS rate: 0.146316 deg/s,
      cmd update: 0.585263 deg/s,
      cmd heading: 197.109017 deg,
      new cmd heading: 196.781763 deg.

2021-08-15T00:51:04.344Z,1628988664.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:51:04.753Z,1628988664.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:51:04.753Z,1628988664.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:51:04.753Z,1628988664.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:51:04.754Z,1628988664.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:51:05.125Z,1628988665.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,008E8,187,80,80,B2,FF
2021-08-15T00:51:05.125Z,1628988665.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:51:05.125Z,1628988665.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:51:05.127Z,1628988665.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:51:05.537Z,1628988665.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:51:05.941Z,1628988665.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,008B7,186,80,80,B3,FF
2021-08-15T00:51:05.941Z,1628988665.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:51:06.381Z,1628988666.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005106.36*59

2021-08-15T00:51:06.412Z,1628988666.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.360001 m, bearing: 207.330679 deg, deltaT: 4.479362 s, approachRate: -0.656344 m/s, LOS rate: 0.112601 deg/s, posRepo size: 4
2021-08-15T00:51:06.414Z,1628988666.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.360001 m,
      bearing: 207.330679 deg,
      approachRate: -0.656344 m/s,
      LOS rate: 0.112601 deg/s,
      cmd update: 0.450405 deg/s,
      cmd heading: 199.730619 deg,
      new cmd heading: 199.974878 deg.

2021-08-15T00:51:08.824Z,1628988668.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:51:09.173Z,1628988669.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:51:09.173Z,1628988669.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:51:09.173Z,1628988669.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:51:09.174Z,1628988669.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:51:09.569Z,1628988669.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,008B7,186,80,80,B3,FF
2021-08-15T00:51:09.569Z,1628988669.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:51:09.569Z,1628988669.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:51:09.571Z,1628988669.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:51:09.977Z,1628988669.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:51:10.386Z,1628988670.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,00888,187,80,80,9A,FF
2021-08-15T00:51:10.386Z,1628988670.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:51:10.793Z,1628988670.793 [Micromodem](INFO): Nmea in: $SNTTA,0.446049,0.446480,,,005110.81*53

2021-08-15T00:51:10.885Z,1628988670.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.540009 m, bearing: 207.902462 deg, deltaT: 4.413080 s, approachRate: -0.639008 m/s, LOS rate: 0.129565 deg/s, posRepo size: 4
2021-08-15T00:51:10.912Z,1628988670.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.540009 m,
      bearing: 207.902462 deg,
      approachRate: -0.639008 m/s,
      LOS rate: 0.129565 deg/s,
      cmd update: 0.518262 deg/s,
      cmd heading: 201.718313 deg,
      new cmd heading: 201.927658 deg.

2021-08-15T00:51:13.259Z,1628988673.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:51:13.605Z,1628988673.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:51:13.605Z,1628988673.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:51:13.605Z,1628988673.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:51:13.606Z,1628988673.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:51:14.013Z,1628988674.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,00888,187,80,80,9A,FF
2021-08-15T00:51:14.013Z,1628988674.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:51:14.013Z,1628988674.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:51:14.015Z,1628988674.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:51:14.420Z,1628988674.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:51:14.825Z,1628988674.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,00854,186,80,80,B4,FF
2021-08-15T00:51:14.826Z,1628988674.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:51:14.829Z,1628988674.829 [Micromodem](INFO): Nmea in: $SNTTA,0.069488,0.265773,,,005115.25*50

2021-08-15T00:51:15.280Z,1628988675.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.420006 m, bearing: 207.853735 deg, deltaT: 4.554084 s, approachRate: -0.685100 m/s, LOS rate: -0.010700 deg/s, posRepo size: 4
2021-08-15T00:51:15.286Z,1628988675.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.420006 m,
      bearing: 207.853735 deg,
      approachRate: -0.685100 m/s,
      LOS rate: -0.010700 deg/s,
      cmd update: -0.042798 deg/s,
      cmd heading: 204.072906 deg,
      new cmd heading: 204.243366 deg.

2021-08-15T00:51:17.679Z,1628988677.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:51:18.061Z,1628988678.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:51:18.061Z,1628988678.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:51:18.062Z,1628988678.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:51:18.063Z,1628988678.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:51:18.461Z,1628988678.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,00854,186,80,80,B4,FF
2021-08-15T00:51:18.461Z,1628988678.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:51:18.461Z,1628988678.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:51:18.463Z,1628988678.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:51:18.881Z,1628988678.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:51:19.275Z,1628988679.275 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,0081D,185,80,80,C4,FF
2021-08-15T00:51:19.275Z,1628988679.275 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:51:19.713Z,1628988679.713 [Micromodem](INFO): Nmea in: $SNTTA,0.066429,,,,005119.70*44

2021-08-15T00:51:19.748Z,1628988679.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.120003 m, bearing: 207.267568 deg, deltaT: 4.331670 s, approachRate: -0.761832 m/s, LOS rate: -0.135321 deg/s, posRepo size: 4
2021-08-15T00:51:19.750Z,1628988679.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.120003 m,
      bearing: 207.267568 deg,
      approachRate: -0.761832 m/s,
      LOS rate: -0.135321 deg/s,
      cmd update: -0.541285 deg/s,
      cmd heading: 203.887065 deg,
      new cmd heading: 203.867597 deg.

2021-08-15T00:51:22.118Z,1628988682.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:51:22.506Z,1628988682.506 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:51:22.506Z,1628988682.506 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:51:22.506Z,1628988682.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:51:22.507Z,1628988682.507 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:51:22.929Z,1628988682.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,0081D,185,80,80,C4,FF
2021-08-15T00:51:22.929Z,1628988682.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:51:22.929Z,1628988682.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:51:22.931Z,1628988682.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:51:23.317Z,1628988683.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:51:23.709Z,1628988683.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,007EE,184,80,80,AA,FF
2021-08-15T00:51:23.709Z,1628988683.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:51:24.131Z,1628988684.131 [Micromodem](INFO): Nmea in: $SNTTA,0.089807,,,,005124.17*4A

2021-08-15T00:51:24.174Z,1628988684.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.300011 m, bearing: 207.795228 deg, deltaT: 4.465805 s, approachRate: -0.631463 m/s, LOS rate: 0.118156 deg/s, posRepo size: 4
2021-08-15T00:51:24.177Z,1628988684.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.300011 m,
      bearing: 207.795228 deg,
      approachRate: -0.631463 m/s,
      LOS rate: 0.118156 deg/s,
      cmd update: 0.472622 deg/s,
      cmd heading: 201.471860 deg,
      new cmd heading: 201.244841 deg.

2021-08-15T00:51:26.559Z,1628988686.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:51:26.949Z,1628988686.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:51:26.950Z,1628988686.950 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:51:26.950Z,1628988686.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:51:26.951Z,1628988686.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:51:27.345Z,1628988687.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,007EE,184,80,80,AA,FF
2021-08-15T00:51:27.345Z,1628988687.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:51:27.345Z,1628988687.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:51:27.347Z,1628988687.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:51:27.753Z,1628988687.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:51:28.157Z,1628988688.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,007BC,184,80,80,B2,FF
2021-08-15T00:51:28.157Z,1628988688.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:51:28.589Z,1628988688.589 [Micromodem](INFO): Nmea in: $SNTTA,0.053954,,,,005128.58*4D

2021-08-15T00:51:28.625Z,1628988688.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.300003 m, bearing: 207.663760 deg, deltaT: 4.467125 s, approachRate: -0.671575 m/s, LOS rate: -0.029430 deg/s, posRepo size: 4
2021-08-15T00:51:28.627Z,1628988688.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.300003 m,
      bearing: 207.663760 deg,
      approachRate: -0.671575 m/s,
      LOS rate: -0.029430 deg/s,
      cmd update: -0.117720 deg/s,
      cmd heading: 203.579905 deg,
      new cmd heading: 203.773603 deg.

2021-08-15T00:51:31.045Z,1628988691.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:51:31.385Z,1628988691.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:51:31.385Z,1628988691.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:51:31.385Z,1628988691.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:51:31.386Z,1628988691.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:51:31.797Z,1628988691.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,007BC,184,80,80,B2,FF
2021-08-15T00:51:31.797Z,1628988691.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:51:31.797Z,1628988691.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:51:31.799Z,1628988691.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:51:32.197Z,1628988692.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:51:32.601Z,1628988692.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,0078D,185,80,80,A0,FF
2021-08-15T00:51:32.601Z,1628988692.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:51:33.052Z,1628988693.052 [Micromodem](INFO): Nmea in: $SNTTA,0.059392,,,,005133.04*44

2021-08-15T00:51:33.118Z,1628988693.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.480003 m, bearing: 207.605198 deg, deltaT: 4.444483 s, approachRate: -0.634494 m/s, LOS rate: -0.013176 deg/s, posRepo size: 4
2021-08-15T00:51:33.125Z,1628988693.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.480003 m,
      bearing: 207.605198 deg,
      approachRate: -0.634494 m/s,
      LOS rate: -0.013176 deg/s,
      cmd update: -0.052705 deg/s,
      cmd heading: 203.061039 deg,
      new cmd heading: 203.002704 deg.

2021-08-15T00:51:35.471Z,1628988695.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:51:35.845Z,1628988695.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:51:35.845Z,1628988695.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:51:35.845Z,1628988695.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:51:35.846Z,1628988695.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:51:36.241Z,1628988696.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,0078D,185,80,80,A0,FF
2021-08-15T00:51:36.241Z,1628988696.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:51:36.241Z,1628988696.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:51:36.243Z,1628988696.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:51:36.705Z,1628988696.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:51:37.045Z,1628988697.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD2,000,0075C,184,80,80,99,FF
2021-08-15T00:51:37.045Z,1628988697.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:51:37.481Z,1628988697.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005137.48*52

2021-08-15T00:51:37.514Z,1628988697.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.540001 m, bearing: 207.249564 deg, deltaT: 4.430392 s, approachRate: -0.663599 m/s, LOS rate: -0.080272 deg/s, posRepo size: 4
2021-08-15T00:51:37.517Z,1628988697.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.540001 m,
      bearing: 207.249564 deg,
      approachRate: -0.663599 m/s,
      LOS rate: -0.080272 deg/s,
      cmd update: -0.321086 deg/s,
      cmd heading: 202.825242 deg,
      new cmd heading: 202.803226 deg.

2021-08-15T00:51:39.920Z,1628988699.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:51:40.277Z,1628988700.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:51:40.277Z,1628988700.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:51:40.277Z,1628988700.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:51:40.278Z,1628988700.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:51:40.705Z,1628988700.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD2,000,0075C,184,80,80,99,FF
2021-08-15T00:51:40.705Z,1628988700.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:51:40.705Z,1628988700.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:51:40.707Z,1628988700.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:51:41.092Z,1628988701.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:51:41.489Z,1628988701.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00726,185,80,80,CC,FF
2021-08-15T00:51:41.490Z,1628988701.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:51:41.923Z,1628988701.923 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005141.94*52

2021-08-15T00:51:41.966Z,1628988701.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.300003 m, bearing: 206.021701 deg, deltaT: 4.460927 s, approachRate: -0.726306 m/s, LOS rate: -0.275248 deg/s, posRepo size: 4
2021-08-15T00:51:41.972Z,1628988701.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.300003 m,
      bearing: 206.021701 deg,
      approachRate: -0.726306 m/s,
      LOS rate: -0.275248 deg/s,
      cmd update: -1.100994 deg/s,
      cmd heading: 201.392881 deg,
      new cmd heading: 201.261925 deg.

2021-08-15T00:51:44.080Z,1628988704.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:51:44.325Z,1628988704.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:51:44.325Z,1628988704.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:51:44.325Z,1628988704.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:51:44.326Z,1628988704.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:51:44.741Z,1628988704.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00726,185,80,80,CC,FF
2021-08-15T00:51:44.741Z,1628988704.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:51:44.741Z,1628988704.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:51:44.743Z,1628988704.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:51:45.132Z,1628988705.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:51:45.526Z,1628988705.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,006FB,184,80,80,A4,FF
2021-08-15T00:51:45.526Z,1628988705.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:51:45.981Z,1628988705.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005145.98*5A

2021-08-15T00:51:46.036Z,1628988706.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.720001 m, bearing: 206.997175 deg, deltaT: 4.000815 s, approachRate: -0.644869 m/s, LOS rate: 0.243819 deg/s, posRepo size: 4
2021-08-15T00:51:46.038Z,1628988706.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.720001 m,
      bearing: 206.997175 deg,
      approachRate: -0.644869 m/s,
      LOS rate: 0.243819 deg/s,
      cmd update: 0.975275 deg/s,
      cmd heading: 197.005504 deg,
      new cmd heading: 196.488698 deg.

2021-08-15T00:51:48.404Z,1628988708.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:51:48.765Z,1628988708.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:51:48.765Z,1628988708.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:51:48.765Z,1628988708.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:51:48.766Z,1628988708.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:51:49.166Z,1628988709.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,006FB,184,80,80,A4,FF
2021-08-15T00:51:49.166Z,1628988709.166 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:51:49.166Z,1628988709.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:51:49.168Z,1628988709.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:51:49.568Z,1628988709.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:51:49.973Z,1628988709.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,006CA,186,80,80,A2,FF
2021-08-15T00:51:49.973Z,1628988709.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:51:50.429Z,1628988710.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005150.40*5B

2021-08-15T00:51:50.452Z,1628988710.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.779999 m, bearing: 206.242316 deg, deltaT: 4.467411 s, approachRate: -0.658100 m/s, LOS rate: -0.168970 deg/s, posRepo size: 4
2021-08-15T00:51:50.454Z,1628988710.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.779999 m,
      bearing: 206.242316 deg,
      approachRate: -0.658100 m/s,
      LOS rate: -0.168970 deg/s,
      cmd update: -0.675880 deg/s,
      cmd heading: 201.372845 deg,
      new cmd heading: 201.793193 deg.

2021-08-15T00:51:52.831Z,1628988712.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:51:53.214Z,1628988713.214 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:51:53.214Z,1628988713.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:51:53.214Z,1628988713.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:51:53.215Z,1628988713.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:51:53.605Z,1628988713.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,006CA,186,80,80,A2,FF
2021-08-15T00:51:53.605Z,1628988713.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:51:53.605Z,1628988713.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:51:53.607Z,1628988713.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:51:54.021Z,1628988714.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:51:54.429Z,1628988714.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,0069B,187,80,80,85,FF
2021-08-15T00:51:54.429Z,1628988714.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:51:54.868Z,1628988714.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005154.84*57

2021-08-15T00:51:54.960Z,1628988714.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.959999 m, bearing: 205.926187 deg, deltaT: 4.416310 s, approachRate: -0.638542 m/s, LOS rate: -0.071582 deg/s, posRepo size: 4
2021-08-15T00:51:54.962Z,1628988714.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.959999 m,
      bearing: 205.926187 deg,
      approachRate: -0.638542 m/s,
      LOS rate: -0.071582 deg/s,
      cmd update: -0.286328 deg/s,
      cmd heading: 198.381581 deg,
      new cmd heading: 198.045301 deg.

2021-08-15T00:51:57.278Z,1628988717.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:51:57.641Z,1628988717.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:51:57.641Z,1628988717.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:51:57.641Z,1628988717.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:51:57.642Z,1628988717.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:51:58.069Z,1628988718.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,0069B,187,80,80,85,FF
2021-08-15T00:51:58.069Z,1628988718.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:51:58.069Z,1628988718.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:51:58.071Z,1628988718.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:51:58.469Z,1628988718.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:51:58.873Z,1628988718.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,00668,186,80,80,A7,FF
2021-08-15T00:51:58.874Z,1628988718.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:51:59.298Z,1628988719.298 [Micromodem](INFO): Nmea in: $SNTTA,0.073523,,,,005159.31*4A

2021-08-15T00:51:59.320Z,1628988719.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.900002 m, bearing: 206.480963 deg, deltaT: 4.519702 s, approachRate: -0.677035 m/s, LOS rate: 0.122746 deg/s, posRepo size: 4
2021-08-15T00:51:59.322Z,1628988719.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.900002 m,
      bearing: 206.480963 deg,
      approachRate: -0.677035 m/s,
      LOS rate: 0.122746 deg/s,
      cmd update: 0.490984 deg/s,
      cmd heading: 197.087472 deg,
      new cmd heading: 196.986240 deg.

2021-08-15T00:52:01.723Z,1628988721.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:52:02.125Z,1628988722.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:52:02.125Z,1628988722.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:52:02.126Z,1628988722.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:52:02.126Z,1628988722.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:52:02.521Z,1628988722.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,00668,186,80,80,A7,FF
2021-08-15T00:52:02.522Z,1628988722.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:52:02.522Z,1628988722.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:52:02.523Z,1628988722.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:52:02.957Z,1628988722.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:52:03.325Z,1628988723.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,00639,187,80,80,B7,FF
2021-08-15T00:52:03.325Z,1628988723.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:52:03.765Z,1628988723.765 [Micromodem](INFO): Nmea in: $SNTTA,0.038452,,,,005203.76*4D

2021-08-15T00:52:03.799Z,1628988723.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.080006 m, bearing: 206.806585 deg, deltaT: 4.376456 s, approachRate: -0.644356 m/s, LOS rate: 0.074403 deg/s, posRepo size: 4
2021-08-15T00:52:03.802Z,1628988723.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.080006 m,
      bearing: 206.806585 deg,
      approachRate: -0.644356 m/s,
      LOS rate: 0.074403 deg/s,
      cmd update: 0.297613 deg/s,
      cmd heading: 199.236237 deg,
      new cmd heading: 199.460549 deg.

2021-08-15T00:52:06.199Z,1628988726.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:52:06.553Z,1628988726.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:52:06.553Z,1628988726.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:52:06.553Z,1628988726.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:52:06.554Z,1628988726.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:52:06.975Z,1628988726.975 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,00639,187,80,80,B7,FF
2021-08-15T00:52:06.975Z,1628988726.975 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:52:06.975Z,1628988726.975 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:52:06.978Z,1628988726.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:52:07.001Z,1628988727.001 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:52:07.365Z,1628988727.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:52:07.774Z,1628988727.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,00608,186,80,80,AF,FF
2021-08-15T00:52:07.775Z,1628988727.775 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:52:08.202Z,1628988728.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005208.21*52

2021-08-15T00:52:08.252Z,1628988728.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.140003 m, bearing: 205.991675 deg, deltaT: 4.482421 s, approachRate: -0.655896 m/s, LOS rate: -0.181801 deg/s, posRepo size: 4
2021-08-15T00:52:08.254Z,1628988728.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.140003 m,
      bearing: 205.991675 deg,
      approachRate: -0.655896 m/s,
      LOS rate: -0.181801 deg/s,
      cmd update: -0.727205 deg/s,
      cmd heading: 200.561852 deg,
      new cmd heading: 200.697290 deg.

2021-08-15T00:52:10.620Z,1628988730.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:52:11.009Z,1628988731.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:52:11.009Z,1628988731.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:52:11.010Z,1628988731.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:52:11.011Z,1628988731.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:52:11.405Z,1628988731.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,00608,186,80,80,AF,FF
2021-08-15T00:52:11.405Z,1628988731.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:52:11.405Z,1628988731.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:52:11.407Z,1628988731.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:52:11.823Z,1628988731.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:52:12.227Z,1628988732.227 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,005D8,187,80,80,7F,FF
2021-08-15T00:52:12.227Z,1628988732.227 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:52:12.676Z,1628988732.676 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005212.65*59

2021-08-15T00:52:12.759Z,1628988732.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.260002 m, bearing: 205.717607 deg, deltaT: 4.431291 s, approachRate: -0.649924 m/s, LOS rate: -0.061848 deg/s, posRepo size: 4
2021-08-15T00:52:12.765Z,1628988732.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.260002 m,
      bearing: 205.717607 deg,
      approachRate: -0.649924 m/s,
      LOS rate: -0.061848 deg/s,
      cmd update: -0.247394 deg/s,
      cmd heading: 197.318872 deg,
      new cmd heading: 196.953237 deg.

2021-08-15T00:52:15.143Z,1628988735.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:52:15.441Z,1628988735.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:52:15.441Z,1628988735.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:52:15.441Z,1628988735.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:52:15.442Z,1628988735.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:52:15.866Z,1628988735.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,005D8,187,80,80,7F,FF
2021-08-15T00:52:15.866Z,1628988735.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:52:15.867Z,1628988735.867 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:52:15.883Z,1628988735.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:52:16.269Z,1628988736.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:52:16.741Z,1628988736.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F79,000,005A5,186,80,80,9E,FF
2021-08-15T00:52:16.741Z,1628988736.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:52:16.745Z,1628988736.745 [Micromodem](INFO): Nmea in: $SNTTA,0.287388,0.286375,,,005217.13*5E

2021-08-15T00:52:17.122Z,1628988737.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.199993 m, bearing: 205.943959 deg, deltaT: 4.561642 s, approachRate: -0.670813 m/s, LOS rate: 0.049621 deg/s, posRepo size: 4
2021-08-15T00:52:17.128Z,1628988737.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.199993 m,
      bearing: 205.943959 deg,
      approachRate: -0.670813 m/s,
      LOS rate: 0.049621 deg/s,
      cmd update: 0.198483 deg/s,
      cmd heading: 196.191328 deg,
      new cmd heading: 196.115211 deg.

2021-08-15T00:52:19.511Z,1628988739.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:52:19.910Z,1628988739.910 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:52:19.910Z,1628988739.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:52:19.910Z,1628988739.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:52:19.911Z,1628988739.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:52:20.297Z,1628988740.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F79,000,005A5,186,80,80,9E,FF
2021-08-15T00:52:20.297Z,1628988740.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:52:20.297Z,1628988740.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:52:20.299Z,1628988740.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:52:20.756Z,1628988740.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:52:21.109Z,1628988741.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F53,000,0057A,187,80,80,9A,FF
2021-08-15T00:52:21.110Z,1628988741.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:52:21.566Z,1628988741.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005221.54*5B

2021-08-15T00:52:21.607Z,1628988741.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.619999 m, bearing: 206.726972 deg, deltaT: 4.338318 s, approachRate: -0.594699 m/s, LOS rate: 0.180488 deg/s, posRepo size: 4
2021-08-15T00:52:21.613Z,1628988741.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.619999 m,
      bearing: 206.726972 deg,
      approachRate: -0.594699 m/s,
      LOS rate: 0.180488 deg/s,
      cmd update: 0.721951 deg/s,
      cmd heading: 197.053188 deg,
      new cmd heading: 197.142683 deg.

2021-08-15T00:52:23.982Z,1628988743.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:52:24.329Z,1628988744.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:52:24.329Z,1628988744.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:52:24.329Z,1628988744.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:52:24.330Z,1628988744.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:52:24.745Z,1628988744.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F53,000,0057A,187,80,80,9A,FF
2021-08-15T00:52:24.745Z,1628988744.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:52:24.745Z,1628988744.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:52:24.747Z,1628988744.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:52:25.148Z,1628988745.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:52:25.553Z,1628988745.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,00547,186,80,80,97,FF
2021-08-15T00:52:25.553Z,1628988745.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:52:25.989Z,1628988745.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005225.98*5F

2021-08-15T00:52:26.037Z,1628988746.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.559998 m, bearing: 208.000447 deg, deltaT: 4.413884 s, approachRate: -0.693267 m/s, LOS rate: 0.288516 deg/s, posRepo size: 4
2021-08-15T00:52:26.039Z,1628988746.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.559998 m,
      bearing: 208.000447 deg,
      approachRate: -0.693267 m/s,
      LOS rate: 0.288516 deg/s,
      cmd update: 1.154063 deg/s,
      cmd heading: 200.239804 deg,
      new cmd heading: 200.562175 deg.

2021-08-15T00:52:26.779Z,1628988746.779 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-15T00:52:28.392Z,1628988748.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:52:28.773Z,1628988748.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:52:28.773Z,1628988748.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:52:28.773Z,1628988748.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:52:28.774Z,1628988748.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:52:29.177Z,1628988749.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,00547,186,80,80,97,FF
2021-08-15T00:52:29.177Z,1628988749.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:52:29.177Z,1628988749.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:52:29.179Z,1628988749.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:52:29.589Z,1628988749.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:52:29.993Z,1628988749.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,00517,186,80,80,81,FF
2021-08-15T00:52:29.994Z,1628988749.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:52:30.425Z,1628988750.425 [Micromodem](INFO): Nmea in: $SNTTA,0.103595,,,,005230.42*49

2021-08-15T00:52:30.441Z,1628988750.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.680000 m, bearing: 205.579801 deg, deltaT: 4.452133 s, approachRate: -0.646880 m/s, LOS rate: -0.543705 deg/s, posRepo size: 4
2021-08-15T00:52:30.443Z,1628988750.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.680000 m,
      bearing: 205.579801 deg,
      approachRate: -0.646880 m/s,
      LOS rate: -0.543705 deg/s,
      cmd update: -2.174820 deg/s,
      cmd heading: 205.377803 deg,
      new cmd heading: 205.861007 deg.

2021-08-15T00:52:32.932Z,1628988752.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:52:33.226Z,1628988753.226 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:52:33.227Z,1628988753.227 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:52:33.227Z,1628988753.227 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:52:33.228Z,1628988753.228 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:52:33.621Z,1628988753.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,00517,186,80,80,81,FF
2021-08-15T00:52:33.621Z,1628988753.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:52:33.622Z,1628988753.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:52:33.623Z,1628988753.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:52:34.037Z,1628988754.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:52:34.433Z,1628988754.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,004EB,183,80,80,72,FF
2021-08-15T00:52:34.433Z,1628988754.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:52:34.844Z,1628988754.844 [Micromodem](INFO): Nmea in: $SNTTA,0.043528,0.461144,,,005234.86*5A

2021-08-15T00:52:34.942Z,1628988754.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.040001 m, bearing: 203.826451 deg, deltaT: 4.428832 s, approachRate: -0.596094 m/s, LOS rate: -0.395895 deg/s, posRepo size: 4
2021-08-15T00:52:34.943Z,1628988754.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.04 m.
2021-08-15T00:52:34.943Z,1628988754.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 38.04 m.
2021-08-15T00:52:34.943Z,1628988754.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T00:52:34.945Z,1628988754.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.040001 m,
      bearing: 203.826451 deg,
      approachRate: -0.596094 m/s,
      LOS rate: -0.395895 deg/s,
      cmd update: -1.583578 deg/s,
      cmd heading: 195.745606 deg,
      new cmd heading: 194.677854 deg.

2021-08-15T00:52:35.281Z,1628988755.281 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T00:52:35.281Z,1628988755.281 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:52:35.282Z,1628988755.282 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T00:52:35.282Z,1628988755.282 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T00:52:35.282Z,1628988755.282 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T00:52:35.282Z,1628988755.282 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T00:52:35.675Z,1628988755.675 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T00:52:35.675Z,1628988755.675 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:52:35.675Z,1628988755.675 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T00:52:35.675Z,1628988755.675 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:52:36.898Z,1628988756.898 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:52:37.295Z,1628988757.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:52:37.661Z,1628988757.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:52:37.661Z,1628988757.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:52:37.661Z,1628988757.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:52:37.662Z,1628988757.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:52:38.069Z,1628988758.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,004EB,183,80,80,72,FF
2021-08-15T00:52:38.070Z,1628988758.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:52:38.070Z,1628988758.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:52:38.071Z,1628988758.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:52:38.477Z,1628988758.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:52:38.889Z,1628988758.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,004B5,187,80,80,4E,FF
2021-08-15T00:52:38.890Z,1628988758.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:52:38.986Z,1628988758.986 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:52:39.321Z,1628988759.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005239.31*51

2021-08-15T00:52:39.357Z,1628988759.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.799999 m, bearing: 209.349751 deg, deltaT: 4.532380 s, approachRate: -0.714857 m/s, LOS rate: 1.218631 deg/s, posRepo size: 4
2021-08-15T00:52:39.359Z,1628988759.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.799999 m,
      bearing: 209.349751 deg,
      approachRate: -0.714857 m/s,
      LOS rate: 1.218631 deg/s,
      cmd update: 4.874526 deg/s,
      cmd heading: 188.594159 deg,
      new cmd heading: 187.977086 deg.

2021-08-15T00:52:41.746Z,1628988761.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:52:42.105Z,1628988762.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:52:42.105Z,1628988762.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:52:42.105Z,1628988762.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:52:42.106Z,1628988762.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:52:42.509Z,1628988762.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,004B5,187,80,80,4E,FF
2021-08-15T00:52:42.509Z,1628988762.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:52:42.509Z,1628988762.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:52:42.511Z,1628988762.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:52:42.948Z,1628988762.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:52:43.325Z,1628988763.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,00488,188,80,80,50,FF
2021-08-15T00:52:43.325Z,1628988763.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:52:43.346Z,1628988763.346 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:52:43.753Z,1628988763.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005243.75*5C

2021-08-15T00:52:43.789Z,1628988763.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.099998 m, bearing: 214.939387 deg, deltaT: 4.359539 s, approachRate: -0.619332 m/s, LOS rate: 1.282162 deg/s, posRepo size: 4
2021-08-15T00:52:43.791Z,1628988763.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.099998 m,
      bearing: 214.939387 deg,
      approachRate: -0.619332 m/s,
      LOS rate: 1.282162 deg/s,
      cmd update: 5.128648 deg/s,
      cmd heading: 209.923129 deg,
      new cmd heading: 212.097348 deg.

2021-08-15T00:52:44.565Z,1628988764.565 [CTD_Seabird](ERROR): Failed to parse device response: .81
2021-08-15T00:52:46.182Z,1628988766.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:52:46.549Z,1628988766.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:52:46.549Z,1628988766.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:52:46.549Z,1628988766.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:52:46.550Z,1628988766.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:52:46.965Z,1628988766.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,00488,188,80,80,50,FF
2021-08-15T00:52:46.965Z,1628988766.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:52:46.965Z,1628988766.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:52:46.967Z,1628988766.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:52:47.042Z,1628988767.042 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T00:52:47.357Z,1628988767.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:52:47.761Z,1628988767.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,00459,184,80,80,66,FF
2021-08-15T00:52:47.761Z,1628988767.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:52:47.782Z,1628988767.782 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:52:48.202Z,1628988768.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005248.21*56

2021-08-15T00:52:48.254Z,1628988768.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.280003 m, bearing: 203.618949 deg, deltaT: 4.436128 s, approachRate: -0.635689 m/s, LOS rate: -2.551874 deg/s, posRepo size: 4
2021-08-15T00:52:48.256Z,1628988768.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 203.618949 deg,
      approachRate: -0.635689 m/s,
      LOS rate: -2.551874 deg/s,
      cmd update: -10.207494 deg/s,
      cmd heading: 232.674022 deg,
      new cmd heading: 235.111715 deg.

2021-08-15T00:52:50.611Z,1628988770.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:52:51.001Z,1628988771.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:52:51.001Z,1628988771.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:52:51.001Z,1628988771.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:52:51.002Z,1628988771.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:52:51.017Z,1628988771.017 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:52:51.401Z,1628988771.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,00459,184,80,80,66,FF
2021-08-15T00:52:51.401Z,1628988771.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:52:51.401Z,1628988771.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:52:51.403Z,1628988771.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:52:51.805Z,1628988771.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:52:52.206Z,1628988772.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CF,000,0042B,186,80,80,74,FF
2021-08-15T00:52:52.207Z,1628988772.207 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:52:52.278Z,1628988772.278 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:52:52.653Z,1628988772.653 [Micromodem](INFO): Nmea in: $SNTTA,0.047729,,,,005252.64*4D

2021-08-15T00:52:52.720Z,1628988772.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.519999 m, bearing: 206.869491 deg, deltaT: 4.496046 s, approachRate: -0.613874 m/s, LOS rate: 0.722978 deg/s, posRepo size: 4
2021-08-15T00:52:52.722Z,1628988772.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.519999 m,
      bearing: 206.869491 deg,
      approachRate: -0.613874 m/s,
      LOS rate: 0.722978 deg/s,
      cmd update: 2.891911 deg/s,
      cmd heading: 186.820958 deg,
      new cmd heading: 182.278460 deg.

2021-08-15T00:52:55.105Z,1628988775.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:52:55.449Z,1628988775.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:52:55.449Z,1628988775.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:52:55.449Z,1628988775.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:52:55.450Z,1628988775.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:52:55.854Z,1628988775.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CF,000,0042B,186,80,80,74,FF
2021-08-15T00:52:55.854Z,1628988775.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:52:55.854Z,1628988775.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:52:55.857Z,1628988775.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:52:56.276Z,1628988776.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:52:56.705Z,1628988776.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,156,000,00407,185,80,80,7E,FF
2021-08-15T00:52:56.706Z,1628988776.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:52:56.734Z,1628988776.734 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T00:52:56.767Z,1628988776.767 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:52:57.101Z,1628988777.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005257.09*52

2021-08-15T00:52:57.144Z,1628988777.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.359999 m, bearing: 204.475578 deg, deltaT: 4.493599 s, approachRate: -0.480684 m/s, LOS rate: -0.532738 deg/s, posRepo size: 4
2021-08-15T00:52:57.146Z,1628988777.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.359999 m,
      bearing: 204.475578 deg,
      approachRate: -0.480684 m/s,
      LOS rate: -0.532738 deg/s,
      cmd update: -2.130954 deg/s,
      cmd heading: 199.803475 deg,
      new cmd heading: 200.913810 deg.

2021-08-15T00:52:59.507Z,1628988779.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:52:59.905Z,1628988779.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:52:59.905Z,1628988779.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:52:59.906Z,1628988779.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:52:59.907Z,1628988779.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:53:00.289Z,1628988780.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
156,000,00407,185,80,80,7E,FF
2021-08-15T00:53:00.289Z,1628988780.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:53:00.289Z,1628988780.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:53:00.291Z,1628988780.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:53:00.736Z,1628988780.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:53:01.097Z,1628988781.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,003D7,184,80,80,68,FF
2021-08-15T00:53:01.098Z,1628988781.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:53:01.155Z,1628988781.155 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:53:01.541Z,1628988781.541 [Micromodem](INFO): Nmea in: $SNTTA,0.101219,,,,005301.53*4B

2021-08-15T00:53:01.563Z,1628988781.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 203.620384 deg, deltaT: 4.391946 s, approachRate: -0.655746 m/s, LOS rate: -0.194719 deg/s, posRepo size: 4
2021-08-15T00:53:01.566Z,1628988781.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.480000 m,
      bearing: 203.620384 deg,
      approachRate: -0.655746 m/s,
      LOS rate: -0.194719 deg/s,
      cmd update: -0.778875 deg/s,
      cmd heading: 190.443963 deg,
      new cmd heading: 189.567806 deg.

2021-08-15T00:53:03.985Z,1628988783.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:53:04.325Z,1628988784.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:53:04.325Z,1628988784.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:53:04.325Z,1628988784.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:53:04.326Z,1628988784.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:53:04.745Z,1628988784.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,003D7,184,80,80,68,FF
2021-08-15T00:53:04.745Z,1628988784.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:53:04.745Z,1628988784.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:53:04.747Z,1628988784.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:53:05.145Z,1628988785.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:53:05.541Z,1628988785.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,003A6,186,80,80,6A,FF
2021-08-15T00:53:05.542Z,1628988785.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:53:05.591Z,1628988785.591 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:53:05.977Z,1628988785.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005305.99*5D

2021-08-15T00:53:06.027Z,1628988786.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.540001 m, bearing: 201.472945 deg, deltaT: 4.427383 s, approachRate: -0.664049 m/s, LOS rate: -0.485036 deg/s, posRepo size: 4
2021-08-15T00:53:06.029Z,1628988786.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.540001 m,
      bearing: 201.472945 deg,
      approachRate: -0.664049 m/s,
      LOS rate: -0.485036 deg/s,
      cmd update: -1.940143 deg/s,
      cmd heading: 186.992387 deg,
      new cmd heading: 186.646936 deg.

2021-08-15T00:53:08.387Z,1628988788.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:53:08.781Z,1628988788.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:53:08.781Z,1628988788.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:53:08.781Z,1628988788.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:53:08.782Z,1628988788.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:53:09.177Z,1628988789.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,003A6,186,80,80,6A,FF
2021-08-15T00:53:09.177Z,1628988789.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:53:09.177Z,1628988789.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:53:09.179Z,1628988789.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:53:09.584Z,1628988789.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:53:09.994Z,1628988789.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,00387,186,80,80,77,FF
2021-08-15T00:53:09.994Z,1628988789.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:53:10.025Z,1628988790.025 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:53:10.421Z,1628988790.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005310.42*5F

2021-08-15T00:53:10.443Z,1628988790.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.680002 m, bearing: 198.015080 deg, deltaT: 4.433852 s, approachRate: -0.419499 m/s, LOS rate: -0.779878 deg/s, posRepo size: 4
2021-08-15T00:53:10.446Z,1628988790.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.680002 m,
      bearing: 198.015080 deg,
      approachRate: -0.419499 m/s,
      LOS rate: -0.779878 deg/s,
      cmd update: -3.119513 deg/s,
      cmd heading: 178.382238 deg,
      new cmd heading: 177.563977 deg.

2021-08-15T00:53:12.904Z,1628988792.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:53:13.218Z,1628988793.218 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:53:13.218Z,1628988793.218 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:53:13.218Z,1628988793.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:53:13.219Z,1628988793.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:53:13.621Z,1628988793.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,00387,186,80,80,77,FF
2021-08-15T00:53:13.621Z,1628988793.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:53:13.621Z,1628988793.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:53:13.623Z,1628988793.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:53:13.684Z,1628988793.684 [CTD_Seabird](ERROR): Failed to parse device response: 6.50,24.3343,4.802234
2021-08-15T00:53:14.040Z,1628988794.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:53:14.437Z,1628988794.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,00352,187,80,80,60,FF
2021-08-15T00:53:14.438Z,1628988794.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:53:14.458Z,1628988794.458 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:53:14.880Z,1628988794.880 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005314.86*53

2021-08-15T00:53:14.951Z,1628988794.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 200.337153 deg, deltaT: 4.433405 s, approachRate: -0.717282 m/s, LOS rate: 0.523767 deg/s, posRepo size: 4
2021-08-15T00:53:14.955Z,1628988794.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 200.337153 deg,
      approachRate: -0.717282 m/s,
      LOS rate: 0.523767 deg/s,
      cmd update: 2.095070 deg/s,
      cmd heading: 164.552492 deg,
      new cmd heading: 163.006171 deg.

2021-08-15T00:53:16.918Z,1628988796.918 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T00:53:17.303Z,1628988797.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:53:17.661Z,1628988797.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:53:17.661Z,1628988797.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:53:17.661Z,1628988797.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:53:17.662Z,1628988797.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:53:18.069Z,1628988798.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,00352,187,80,80,60,FF
2021-08-15T00:53:18.070Z,1628988798.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:53:18.070Z,1628988798.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:53:18.072Z,1628988798.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:53:18.473Z,1628988798.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:53:18.885Z,1628988798.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0034E,189,80,80,38,FF
2021-08-15T00:53:18.886Z,1628988798.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:53:18.985Z,1628988798.985 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:53:19.309Z,1628988799.309 [Micromodem](INFO): Nmea in: $SNTTA,0.011218,,,,005319.31*47

2021-08-15T00:53:19.359Z,1628988799.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.260000 m, bearing: 225.694777 deg, deltaT: 4.527329 s, approachRate: -0.053012 m/s, LOS rate: 5.601012 deg/s, posRepo size: 4
2021-08-15T00:53:19.361Z,1628988799.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.260000 m,
      bearing: 225.694777 deg,
      approachRate: -0.053012 m/s,
      LOS rate: 5.601012 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 174.029372 deg,
      new cmd heading: 174.770689 deg.

2021-08-15T00:53:21.757Z,1628988801.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:53:22.101Z,1628988802.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:53:22.101Z,1628988802.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:53:22.101Z,1628988802.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:53:22.102Z,1628988802.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:53:22.182Z,1628988802.182 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T00:53:22.182Z,1628988802.182 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T00:53:22.182Z,1628988802.182 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T00:53:22.182Z,1628988802.182 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T00:53:22.182Z,1628988802.182 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T00:53:22.680Z,1628988802.680 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0034E,189,80,80,38,FF
2021-08-15T00:53:22.681Z,1628988802.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:53:22.682Z,1628988802.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:53:22.701Z,1628988802.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:53:23.077Z,1628988803.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:53:23.309Z,1628988803.309 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 06411861240000005D00000400260000000000000000151D80030C5669C08C799860399F6AA569474825B0BF55A3BAF037C0393952680E4BDD0EE200
2021-08-15T00:53:23.310Z,1628988803.310 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T00:53:23.549Z,1628988803.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BD3,000,0031C,18A,80,80,A8,FF
2021-08-15T00:53:23.549Z,1628988803.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:53:23.552Z,1628988803.552 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T00:53:23.624Z,1628988803.624 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:53:23.965Z,1628988803.965 [Micromodem](INFO): Nmea in: $CADRQ,005324,1,10,0,64,1*76

2021-08-15T00:53:23.966Z,1628988803.966 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861240000005D00000400260000000000000000151D80030C5669C08C799860399F6AA569474825B0BF55A3BAF037C0393952680E4BDD0EE200*48

2021-08-15T00:53:24.107Z,1628988804.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.260000 m, bearing: 224.555241 deg, deltaT: 4.638389 s, approachRate: -0.646776 m/s, LOS rate: -0.245675 deg/s, posRepo size: 4
2021-08-15T00:53:24.114Z,1628988804.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 224.555241 deg,
      approachRate: -0.646776 m/s,
      LOS rate: -0.245675 deg/s,
      cmd update: -0.982699 deg/s,
      cmd heading: 229.638105 deg,
      new cmd heading: 235.576593 deg.

2021-08-15T00:53:24.374Z,1628988804.374 [Micromodem](INFO): Nmea in: $SNTTA,0.053566,,,,005323.94*49

2021-08-15T00:53:24.374Z,1628988804.374 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.053566,,,,005323.94*49

2021-08-15T00:53:25.601Z,1628988805.601 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T00:53:26.025Z,1628988806.025 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T00:53:26.390Z,1628988806.390 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T00:53:26.409Z,1628988806.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:53:26.809Z,1628988806.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:53:26.809Z,1628988806.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:53:26.809Z,1628988806.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:53:26.810Z,1628988806.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:53:26.822Z,1628988806.822 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,005325.226327,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-15T00:53:27.202Z,1628988807.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BD3,000,0031C,18A,80,80,A8,FF
2021-08-15T00:53:27.202Z,1628988807.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:53:27.202Z,1628988807.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:53:27.205Z,1628988807.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:53:27.608Z,1628988807.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:53:28.434Z,1628988808.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005328.44*52

2021-08-15T00:53:29.150Z,1628988809.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:53:30.533Z,1628988810.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,18A,80,80,A8,FF
2021-08-15T00:53:30.533Z,1628988810.533 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,18A,80,80,A8,FF
2021-08-15T00:53:30.534Z,1628988810.534 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:53:31.826Z,1628988811.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:53:32.185Z,1628988812.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:53:32.186Z,1628988812.186 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:53:32.187Z,1628988812.187 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:53:32.188Z,1628988812.188 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:53:32.594Z,1628988812.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,18A,80,80,A8,FF
2021-08-15T00:53:32.594Z,1628988812.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:53:32.594Z,1628988812.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:53:32.595Z,1628988812.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:53:33.005Z,1628988813.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:53:33.409Z,1628988813.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,002ED,184,80,80,68,FF
2021-08-15T00:53:33.409Z,1628988813.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:53:33.430Z,1628988813.430 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:53:33.889Z,1628988813.889 [Micromodem](INFO): Nmea in: $SNTTA,0.040676,,,,005333.83*4E

2021-08-15T00:53:33.930Z,1628988813.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.440001 m, bearing: 207.403448 deg, deltaT: 9.806344 s, approachRate: -0.287569 m/s, LOS rate: -1.749051 deg/s, posRepo size: 4
2021-08-15T00:53:33.932Z,1628988813.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.440001 m,
      bearing: 207.403448 deg,
      approachRate: -0.287569 m/s,
      LOS rate: -1.749051 deg/s,
      cmd update: -6.996203 deg/s,
      cmd heading: 219.993656 deg,
      new cmd heading: 219.499334 deg.

2021-08-15T00:53:36.296Z,1628988816.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:53:36.636Z,1628988816.636 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:53:36.637Z,1628988816.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:53:36.637Z,1628988816.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:53:36.639Z,1628988816.639 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:53:37.038Z,1628988817.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,002ED,184,80,80,68,FF
2021-08-15T00:53:37.038Z,1628988817.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:53:37.039Z,1628988817.039 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:53:37.041Z,1628988817.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:53:37.449Z,1628988817.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:53:37.865Z,1628988817.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,002E0,186,80,80,95,FF
2021-08-15T00:53:37.866Z,1628988817.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:53:37.963Z,1628988817.963 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:53:38.281Z,1628988818.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005338.28*59

2021-08-15T00:53:38.324Z,1628988818.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.660000 m, bearing: 230.261004 deg, deltaT: 4.532617 s, approachRate: -0.172086 m/s, LOS rate: 5.042905 deg/s, posRepo size: 4
2021-08-15T00:53:38.326Z,1628988818.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.660000 m,
      bearing: 230.261004 deg,
      approachRate: -0.172086 m/s,
      LOS rate: 5.042905 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 188.307693 deg,
      new cmd heading: 185.872035 deg.

2021-08-15T00:53:40.744Z,1628988820.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:53:41.077Z,1628988821.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:53:41.077Z,1628988821.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:53:41.077Z,1628988821.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:53:41.078Z,1628988821.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:53:41.485Z,1628988821.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,002E0,186,80,80,95,FF
2021-08-15T00:53:41.485Z,1628988821.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:53:41.485Z,1628988821.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:53:41.487Z,1628988821.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:53:41.923Z,1628988821.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:53:42.361Z,1628988822.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,002FF,187,80,80,D1,FF
2021-08-15T00:53:42.362Z,1628988822.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:53:42.415Z,1628988822.415 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:53:42.781Z,1628988822.781 [Micromodem](INFO): Nmea in: $SNTTA,0.029802,,,,005342.72*44

2021-08-15T00:53:42.835Z,1628988822.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.520000 m, bearing: 238.269756 deg, deltaT: 4.451951 s, approachRate: 0.417794 m/s, LOS rate: 1.798931 deg/s, posRepo size: 4
2021-08-15T00:53:42.856Z,1628988822.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.520000 m,
      bearing: 238.269756 deg,
      approachRate: 0.417794 m/s,
      LOS rate: 1.798931 deg/s,
      cmd update: 7.195723 deg/s,
      cmd heading: 241.729882 deg,
      new cmd heading: 246.863938 deg.

2021-08-15T00:53:45.046Z,1628988825.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:53:45.393Z,1628988825.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:53:45.393Z,1628988825.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:53:45.393Z,1628988825.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:53:45.394Z,1628988825.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:53:45.822Z,1628988825.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E20,000,002FF,187,80,80,D1,FF
2021-08-15T00:53:45.822Z,1628988825.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:53:45.822Z,1628988825.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:53:45.824Z,1628988825.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:53:46.219Z,1628988826.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:53:46.609Z,1628988826.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,00307,187,80,80,A3,FF
2021-08-15T00:53:46.609Z,1628988826.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:53:46.698Z,1628988826.698 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:53:47.046Z,1628988827.046 [Micromodem](INFO): Nmea in: $SNTTA,0.031294,,,,005347.06*4E

2021-08-15T00:53:47.115Z,1628988827.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.999999 m, bearing: 213.212524 deg, deltaT: 4.283175 s, approachRate: 0.112066 m/s, LOS rate: -5.850154 deg/s, posRepo size: 4
2021-08-15T00:53:47.122Z,1628988827.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 213.212524 deg,
      approachRate: 0.112066 m/s,
      LOS rate: -5.850154 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 272.151794 deg,
      new cmd heading: 275.606173 deg.

2021-08-15T00:53:49.515Z,1628988829.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:53:49.841Z,1628988829.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:53:49.841Z,1628988829.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:53:49.841Z,1628988829.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:53:49.842Z,1628988829.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:53:50.257Z,1628988830.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,00307,187,80,80,A3,FF
2021-08-15T00:53:50.257Z,1628988830.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:53:50.257Z,1628988830.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:53:50.259Z,1628988830.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:53:50.914Z,1628988830.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:53:51.269Z,1628988831.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,00336,187,80,80,41,FF
2021-08-15T00:53:51.269Z,1628988831.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:53:51.328Z,1628988831.328 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:53:51.674Z,1628988831.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005351.50*59

2021-08-15T00:53:51.759Z,1628988831.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.820001 m, bearing: 217.825005 deg, deltaT: 4.629844 s, approachRate: 0.609092 m/s, LOS rate: 0.996250 deg/s, posRepo size: 4
2021-08-15T00:53:51.767Z,1628988831.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.820001 m,
      bearing: 217.825005 deg,
      approachRate: 0.609092 m/s,
      LOS rate: 0.996250 deg/s,
      cmd update: 3.985000 deg/s,
      cmd heading: 216.000000 deg,
      new cmd heading: 210.664488 deg.

2021-08-15T00:53:54.152Z,1628988834.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:53:54.485Z,1628988834.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:53:54.485Z,1628988834.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:53:54.485Z,1628988834.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:53:54.486Z,1628988834.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:53:54.969Z,1628988834.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,00336,187,80,80,41,FF
2021-08-15T00:53:54.969Z,1628988834.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:53:54.969Z,1628988834.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:53:54.971Z,1628988834.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:53:55.339Z,1628988835.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:53:55.746Z,1628988835.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,00353,185,80,80,7D,FF
2021-08-15T00:53:55.747Z,1628988835.747 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:53:55.817Z,1628988835.817 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:53:56.163Z,1628988836.163 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005356.21*58

2021-08-15T00:53:56.219Z,1628988836.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 253.438431 deg, deltaT: 4.488913 s, approachRate: 0.387621 m/s, LOS rate: 7.933641 deg/s, posRepo size: 4
2021-08-15T00:53:56.237Z,1628988836.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.559999 m,
      bearing: 253.438431 deg,
      approachRate: 0.387621 m/s,
      LOS rate: 7.933641 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 233.928465 deg,
      new cmd heading: 235.540406 deg.

2021-08-15T00:53:58.331Z,1628988838.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:53:58.741Z,1628988838.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:53:58.741Z,1628988838.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:53:58.741Z,1628988838.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:53:58.742Z,1628988838.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:53:59.113Z,1628988839.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,00353,185,80,80,7D,FF
2021-08-15T00:53:59.113Z,1628988839.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:53:59.113Z,1628988839.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:53:59.115Z,1628988839.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:53:59.531Z,1628988839.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:53:59.949Z,1628988839.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,00382,186,80,80,74,FF
2021-08-15T00:53:59.950Z,1628988839.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:53:59.984Z,1628988839.984 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:54:00.363Z,1628988840.363 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005400.35*59

2021-08-15T00:54:00.397Z,1628988840.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.380001 m, bearing: 239.534352 deg, deltaT: 4.167325 s, approachRate: 0.676693 m/s, LOS rate: -3.336452 deg/s, posRepo size: 4
2021-08-15T00:54:00.399Z,1628988840.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.380001 m,
      bearing: 239.534352 deg,
      approachRate: 0.676693 m/s,
      LOS rate: -3.336452 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 283.933175 deg,
      new cmd heading: 288.911915 deg.

2021-08-15T00:54:02.498Z,1628988842.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:54:02.872Z,1628988842.872 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:54:02.873Z,1628988842.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:54:02.873Z,1628988842.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:54:02.874Z,1628988842.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:54:03.393Z,1628988843.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,00382,186,80,80,74,FF
2021-08-15T00:54:03.393Z,1628988843.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:54:03.394Z,1628988843.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:54:03.396Z,1628988843.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:54:03.801Z,1628988843.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:54:04.198Z,1628988844.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4A5,000,003A5,189,80,80,62,FF
2021-08-15T00:54:04.198Z,1628988844.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:54:04.283Z,1628988844.283 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:54:04.654Z,1628988844.654 [Micromodem](INFO): Nmea in: $SNTTA,0.048844,,,,005404.64*43

2021-08-15T00:54:04.718Z,1628988844.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.479998 m, bearing: 179.675544 deg, deltaT: 4.307367 s, approachRate: 0.487536 m/s, LOS rate: -13.896844 deg/s, posRepo size: 4
2021-08-15T00:54:04.718Z,1628988844.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.48 m. Rolling out.
2021-08-15T00:54:04.719Z,1628988844.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T00:54:05.431Z,1628988845.431 [PowerOnly](INFO): Powering down loadControl
2021-08-15T00:54:07.129Z,1628988847.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:54:07.425Z,1628988847.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:54:07.426Z,1628988847.426 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:54:07.426Z,1628988847.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:54:07.427Z,1628988847.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:54:07.833Z,1628988847.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4A5,000,003A5,189,80,80,62,FF
2021-08-15T00:54:07.834Z,1628988847.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:54:07.834Z,1628988847.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:54:07.835Z,1628988847.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:54:08.248Z,1628988848.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:54:08.641Z,1628988848.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E75,000,003CF,186,80,80,3A,FF
2021-08-15T00:54:08.642Z,1628988848.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:54:08.773Z,1628988848.773 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:54:09.085Z,1628988849.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005409.07*51

2021-08-15T00:54:09.133Z,1628988849.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 271.834753 deg, deltaT: 4.481499 s, approachRate: 0.562312 m/s, LOS rate: 20.564371 deg/s, posRepo size: 4
2021-08-15T00:54:11.483Z,1628988851.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:54:11.884Z,1628988851.884 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:54:11.885Z,1628988851.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:54:11.885Z,1628988851.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:54:11.887Z,1628988851.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:54:12.281Z,1628988852.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E75,000,003CF,186,80,80,3A,FF
2021-08-15T00:54:12.281Z,1628988852.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:54:12.281Z,1628988852.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:54:12.283Z,1628988852.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:54:12.729Z,1628988852.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:54:13.510Z,1628988853.510 [Micromodem](INFO): Nmea in: $SNTTA,0.022419,,,,005413.52*48

2021-08-15T00:54:14.168Z,1628988854.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:54:14.337Z,1628988854.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,036AD,184,80,80,1F,FF
2021-08-15T00:54:14.338Z,1628988854.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:54:14.359Z,1628988854.359 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:54:14.802Z,1628988854.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 802.320068 m, bearing: 239.417528 deg, deltaT: 5.585949 s, approachRate: 139.872391 m/s, LOS rate: -5.803351 deg/s, posRepo size: 4
2021-08-15T00:54:15.227Z,1628988855.227 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T00:54:15.227Z,1628988855.227 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:54:15.232Z,1628988855.232 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T00:54:15.232Z,1628988855.232 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T00:54:15.233Z,1628988855.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T00:54:15.233Z,1628988855.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T00:54:15.597Z,1628988855.597 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T00:54:15.597Z,1628988855.597 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:54:15.597Z,1628988855.597 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T00:54:15.598Z,1628988855.598 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:54:17.231Z,1628988857.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:54:17.566Z,1628988857.566 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:54:17.566Z,1628988857.566 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:54:17.566Z,1628988857.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:54:17.567Z,1628988857.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:54:17.965Z,1628988857.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,036AD,184,80,80,1F,FF
2021-08-15T00:54:17.966Z,1628988857.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:54:17.966Z,1628988857.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:54:17.968Z,1628988857.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:54:18.377Z,1628988858.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:54:19.195Z,1628988859.195 [Micromodem](INFO): Nmea in: $SNTTA,0.020885,,,,005419.21*4D

2021-08-15T00:54:20.054Z,1628988860.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:54:21.609Z,1628988861.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,184,80,80,1F,FF
2021-08-15T00:54:21.609Z,1628988861.609 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,184,80,80,1F,FF
2021-08-15T00:54:21.610Z,1628988861.610 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:54:22.721Z,1628988862.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:54:22.900Z,1628988862.900 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:54:22.900Z,1628988862.900 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:54:22.900Z,1628988862.900 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:54:22.901Z,1628988862.901 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:54:23.293Z,1628988863.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,184,80,80,1F,FF
2021-08-15T00:54:23.294Z,1628988863.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:54:23.294Z,1628988863.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:54:23.295Z,1628988863.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:54:23.689Z,1628988863.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:54:24.090Z,1628988864.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC1,000,00479,184,80,80,7E,FF
2021-08-15T00:54:24.090Z,1628988864.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:54:24.529Z,1628988864.529 [Micromodem](INFO): Nmea in: $SNTTA,0.063829,,,,005424.54*40

2021-08-15T00:54:24.568Z,1628988864.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.200001 m, bearing: 232.278560 deg, deltaT: 9.764337 s, approachRate: -78.973106 m/s, LOS rate: -0.731127 deg/s, posRepo size: 4
2021-08-15T00:54:25.015Z,1628988865.015 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T00:54:25.015Z,1628988865.015 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:54:25.016Z,1628988865.016 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T00:54:25.016Z,1628988865.016 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T00:54:25.017Z,1628988865.017 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T00:54:25.017Z,1628988865.017 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T00:54:25.337Z,1628988865.337 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T00:54:25.337Z,1628988865.337 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:54:25.337Z,1628988865.337 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T00:54:25.337Z,1628988865.337 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:54:27.205Z,1628988867.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:54:27.391Z,1628988867.391 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:54:27.391Z,1628988867.391 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:54:27.391Z,1628988867.391 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:54:27.392Z,1628988867.392 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:54:27.781Z,1628988867.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC1,000,00479,184,80,80,7E,FF
2021-08-15T00:54:27.781Z,1628988867.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:54:27.781Z,1628988867.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:54:27.783Z,1628988867.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:54:28.183Z,1628988868.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:54:28.591Z,1628988868.591 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T00:54:29.019Z,1628988869.019 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005429.02*56

2021-08-15T00:54:29.240Z,1628988869.240 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 06411861240000005D00000400260000000000000000151D80030C5669C08C799860399F6AA569474825B0BF55A3BAF037C0393952680E4BDD0EE200
2021-08-15T00:54:29.240Z,1628988869.240 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T00:54:29.754Z,1628988869.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:54:30.510Z,1628988870.510 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T00:54:30.942Z,1628988870.942 [Micromodem](INFO): Nmea in: $CADRQ,005430,1,10,0,64,1*74

2021-08-15T00:54:30.943Z,1628988870.943 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861240000005D00000400260000000000000000151D80030C5669C08C799860399F6AA569474825B0BF55A3BAF037C0393952680E4BDD0EE200*48

2021-08-15T00:54:31.325Z,1628988871.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,184,80,80,7E,FF
2021-08-15T00:54:31.326Z,1628988871.326 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,184,80,80,7E,FF
2021-08-15T00:54:31.326Z,1628988871.326 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:54:31.327Z,1628988871.327 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T00:54:31.734Z,1628988871.734 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T00:54:32.566Z,1628988872.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:54:32.969Z,1628988872.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:54:32.969Z,1628988872.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:54:32.969Z,1628988872.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:54:32.970Z,1628988872.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:54:32.977Z,1628988872.977 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T00:54:33.354Z,1628988873.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,184,80,80,7E,FF
2021-08-15T00:54:33.354Z,1628988873.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:54:33.354Z,1628988873.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:54:33.357Z,1628988873.357 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,005432.204085,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5E

2021-08-15T00:54:33.358Z,1628988873.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:54:33.905Z,1628988873.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:54:33.935Z,1628988873.935 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T00:54:34.286Z,1628988874.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F74,000,004EA,187,80,80,6A,FF
2021-08-15T00:54:34.286Z,1628988874.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:54:34.306Z,1628988874.306 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:54:34.754Z,1628988874.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005434.60*5E

2021-08-15T00:54:34.821Z,1628988874.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.980000 m, bearing: 238.310710 deg, deltaT: 10.183106 s, approachRate: 0.665808 m/s, LOS rate: 0.592368 deg/s, posRepo size: 4
2021-08-15T00:54:36.853Z,1628988876.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:54:37.149Z,1628988877.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:54:37.150Z,1628988877.150 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:54:37.150Z,1628988877.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:54:37.151Z,1628988877.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:54:37.533Z,1628988877.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F74,000,004EA,187,80,80,6A,FF
2021-08-15T00:54:37.533Z,1628988877.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:54:37.534Z,1628988877.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:54:37.536Z,1628988877.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:54:37.955Z,1628988877.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:54:38.354Z,1628988878.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,0051D,186,80,80,8D,FF
2021-08-15T00:54:38.354Z,1628988878.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:54:38.375Z,1628988878.375 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:54:38.794Z,1628988878.794 [Micromodem](INFO): Nmea in: $SNTTA,0.049113,,,,005438.77*44

2021-08-15T00:54:38.858Z,1628988878.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.039997 m, bearing: 236.505846 deg, deltaT: 4.068539 s, approachRate: 0.752112 m/s, LOS rate: -0.443615 deg/s, posRepo size: 4
2021-08-15T00:54:39.217Z,1628988879.217 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T00:54:39.217Z,1628988879.217 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:54:39.217Z,1628988879.217 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T00:54:39.218Z,1628988879.218 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T00:54:39.218Z,1628988879.218 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T00:54:39.219Z,1628988879.219 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T00:54:39.623Z,1628988879.623 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T00:54:39.623Z,1628988879.623 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:54:39.623Z,1628988879.623 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T00:54:39.623Z,1628988879.623 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:54:41.251Z,1628988881.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:54:41.573Z,1628988881.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:54:41.574Z,1628988881.574 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:54:41.574Z,1628988881.574 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:54:41.575Z,1628988881.575 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:54:41.983Z,1628988881.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,0051D,186,80,80,8D,FF
2021-08-15T00:54:41.983Z,1628988881.983 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:54:41.984Z,1628988881.984 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:54:41.987Z,1628988881.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:54:42.626Z,1628988882.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,0051D,186,80,80,8D,FF
2021-08-15T00:54:42.626Z,1628988882.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:54:42.641Z,1628988882.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:54:43.119Z,1628988883.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.039997 m, bearing: 238.803767 deg, deltaT: 4.355722 s, approachRate: 0.000000 m/s, LOS rate: 0.527564 deg/s, posRepo size: 4
2021-08-15T00:54:43.445Z,1628988883.445 [Micromodem](INFO): Nmea in: $SNTTA,0.072339,,,,005443.23*4B

2021-08-15T00:54:45.471Z,1628988885.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:54:45.872Z,1628988885.872 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:54:45.873Z,1628988885.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:54:45.873Z,1628988885.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:54:45.875Z,1628988885.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:54:46.269Z,1628988886.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,0051D,186,80,80,8D,FF
2021-08-15T00:54:46.269Z,1628988886.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:54:46.269Z,1628988886.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:54:46.271Z,1628988886.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:54:46.699Z,1628988886.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:54:47.208Z,1628988887.208 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,00588,186,80,80,AA,FF
2021-08-15T00:54:47.208Z,1628988887.208 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:54:47.629Z,1628988887.629 [Micromodem](INFO): Nmea in: $SNTTA,0.039242,,,,005447.51*48

2021-08-15T00:54:47.648Z,1628988887.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.459999 m, bearing: 238.020809 deg, deltaT: 4.505173 s, approachRate: 1.425029 m/s, LOS rate: -0.173791 deg/s, posRepo size: 4
2021-08-15T00:54:49.743Z,1628988889.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:54:50.107Z,1628988890.107 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:54:50.108Z,1628988890.108 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:54:50.108Z,1628988890.108 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:54:50.109Z,1628988890.109 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:54:50.510Z,1628988890.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,00588,186,80,80,AA,FF
2021-08-15T00:54:50.510Z,1628988890.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:54:50.510Z,1628988890.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:54:50.512Z,1628988890.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:54:50.951Z,1628988890.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:54:51.318Z,1628988891.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,005BC,186,80,80,62,FF
2021-08-15T00:54:51.318Z,1628988891.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:54:51.789Z,1628988891.789 [Micromodem](INFO): Nmea in: $SNTTA,0.033104,,,,005451.75*42

2021-08-15T00:54:51.815Z,1628988891.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.580002 m, bearing: 242.641623 deg, deltaT: 4.106806 s, approachRate: 0.759715 m/s, LOS rate: 1.125160 deg/s, posRepo size: 4
2021-08-15T00:54:54.241Z,1628988894.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:54:54.580Z,1628988894.580 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:54:54.580Z,1628988894.580 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:54:54.580Z,1628988894.580 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:54:54.581Z,1628988894.581 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:54:54.969Z,1628988894.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,005BC,186,80,80,62,FF
2021-08-15T00:54:54.969Z,1628988894.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:54:54.969Z,1628988894.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:54:54.971Z,1628988894.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:54:55.381Z,1628988895.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:54:55.782Z,1628988895.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,00647,187,80,80,74,FF
2021-08-15T00:54:55.782Z,1628988895.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:54:56.245Z,1628988896.245 [Micromodem](INFO): Nmea in: $SNTTA,0.060992,,,,005456.22*46

2021-08-15T00:54:56.270Z,1628988896.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.920006 m, bearing: 237.501551 deg, deltaT: 4.519584 s, approachRate: 1.845303 m/s, LOS rate: -1.137289 deg/s, posRepo size: 4
2021-08-15T00:54:58.709Z,1628988898.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:54:59.009Z,1628988899.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:54:59.009Z,1628988899.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:54:59.009Z,1628988899.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:54:59.010Z,1628988899.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:54:59.409Z,1628988899.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,00647,187,80,80,74,FF
2021-08-15T00:54:59.409Z,1628988899.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:54:59.410Z,1628988899.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:54:59.411Z,1628988899.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:54:59.821Z,1628988899.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:55:00.747Z,1628988900.747 [Micromodem](INFO): Nmea in: $SNTTA,,0.057603,,,005500.65*44

2021-08-15T00:55:01.591Z,1628988901.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:55:02.757Z,1628988902.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,74,FF
2021-08-15T00:55:02.757Z,1628988902.757 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,74,FF
2021-08-15T00:55:02.758Z,1628988902.758 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:55:04.378Z,1628988904.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:55:04.781Z,1628988904.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:55:04.781Z,1628988904.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:55:04.781Z,1628988904.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:55:04.782Z,1628988904.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:55:05.169Z,1628988905.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,74,FF
2021-08-15T00:55:05.170Z,1628988905.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:55:05.170Z,1628988905.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:55:05.171Z,1628988905.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:55:05.593Z,1628988905.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:55:05.969Z,1628988905.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,009AF,185,80,80,75,FF
2021-08-15T00:55:05.970Z,1628988905.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:55:06.421Z,1628988906.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005506.41*5D

2021-08-15T00:55:06.704Z,1628988906.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.240005 m, bearing: 233.883326 deg, deltaT: 10.148512 s, approachRate: 5.155436 m/s, LOS rate: -0.356528 deg/s, posRepo size: 4
2021-08-15T00:55:08.790Z,1628988908.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:55:08.984Z,1628988908.984 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:55:08.984Z,1628988908.984 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:55:08.985Z,1628988908.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:55:08.985Z,1628988908.985 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:55:09.370Z,1628988909.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,009AF,185,80,80,75,FF
2021-08-15T00:55:09.370Z,1628988909.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:55:09.370Z,1628988909.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:55:09.371Z,1628988909.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:55:09.773Z,1628988909.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:55:10.618Z,1628988910.618 [Micromodem](INFO): Nmea in: $SNTTA,0.052545,,,,005510.61*45

2021-08-15T00:55:11.416Z,1628988911.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:55:13.018Z,1628988913.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,097AB,182,80,80,75,FF
2021-08-15T00:55:13.018Z,1628988913.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:55:13.523Z,1628988913.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2292.119873 m, bearing: 232.496497 deg, deltaT: 7.302607 s, approachRate: 298.644012 m/s, LOS rate: -0.189909 deg/s, posRepo size: 4
2021-08-15T00:55:13.540Z,1628988913.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2292.12 m. Resuming terminal guidance.
2021-08-15T00:55:13.540Z,1628988913.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T00:55:16.003Z,1628988916.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:55:16.369Z,1628988916.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:55:16.369Z,1628988916.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:55:16.369Z,1628988916.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:55:16.370Z,1628988916.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:55:16.773Z,1628988916.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,097AB,182,80,80,75,FF
2021-08-15T00:55:16.773Z,1628988916.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:55:16.774Z,1628988916.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:55:16.775Z,1628988916.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:55:16.979Z,1628988916.979 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:55:17.187Z,1628988917.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:55:17.581Z,1628988917.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,006FA,184,80,80,80,FF
2021-08-15T00:55:17.582Z,1628988917.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:55:18.021Z,1628988918.021 [Micromodem](INFO): Nmea in: $SNTTA,0.067027,,,,005518.02*4F

2021-08-15T00:55:18.074Z,1628988918.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.659996 m, bearing: 232.933138 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T00:55:18.075Z,1628988918.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 232.933138deg and heading rate command to 0 deg/s.
2021-08-15T00:55:20.471Z,1628988920.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:55:20.860Z,1628988920.860 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:55:20.861Z,1628988920.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:55:20.862Z,1628988920.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:55:20.863Z,1628988920.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:55:21.277Z,1628988921.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,006FA,184,80,80,80,FF
2021-08-15T00:55:21.277Z,1628988921.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:55:21.277Z,1628988921.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:55:21.279Z,1628988921.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:55:21.664Z,1628988921.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:55:22.169Z,1628988922.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00732,183,80,80,8A,FF
2021-08-15T00:55:22.169Z,1628988922.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:55:22.598Z,1628988922.598 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005522.52*59

2021-08-15T00:55:22.697Z,1628988922.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.019997 m, bearing: 232.436201 deg, deltaT: 4.555299 s, approachRate: 0.737603 m/s, LOS rate: -0.109090 deg/s, posRepo size: 2
2021-08-15T00:55:22.699Z,1628988922.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.019997 m,
      bearing: 232.436201 deg,
      approachRate: 0.737603 m/s,
      LOS rate: -0.109090 deg/s,
      cmd update: -0.436360 deg/s,
      cmd heading: 232.933138 deg,
      new cmd heading: 232.933138 deg.

2021-08-15T00:55:25.092Z,1628988925.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:55:25.401Z,1628988925.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:55:25.401Z,1628988925.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:55:25.401Z,1628988925.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:55:25.402Z,1628988925.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:55:25.830Z,1628988925.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00732,183,80,80,8A,FF
2021-08-15T00:55:25.831Z,1628988925.831 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:55:25.831Z,1628988925.831 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:55:25.834Z,1628988925.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:55:26.376Z,1628988926.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:55:27.167Z,1628988927.167 [Micromodem](INFO): Nmea in: $SNTTA,0.066560,,,,005527.07*41

2021-08-15T00:55:27.610Z,1628988927.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:55:29.190Z,1628988929.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,183,80,80,8A,FF
2021-08-15T00:55:29.190Z,1628988929.190 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,183,80,80,8A,FF
2021-08-15T00:55:29.190Z,1628988929.190 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:55:30.410Z,1628988930.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:55:30.805Z,1628988930.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:55:30.805Z,1628988930.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:55:30.806Z,1628988930.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:55:30.807Z,1628988930.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:55:31.202Z,1628988931.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,183,80,80,8A,FF
2021-08-15T00:55:31.202Z,1628988931.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:55:31.203Z,1628988931.203 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:55:31.205Z,1628988931.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:55:31.621Z,1628988931.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:55:32.013Z,1628988932.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,007A7,186,80,80,89,FF
2021-08-15T00:55:32.013Z,1628988932.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:55:32.465Z,1628988932.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005532.44*5F

2021-08-15T00:55:32.770Z,1628988932.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.040001 m, bearing: 223.109687 deg, deltaT: 9.901366 s, approachRate: 0.708993 m/s, LOS rate: -0.941942 deg/s, posRepo size: 3
2021-08-15T00:55:32.776Z,1628988932.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.040001 m,
      bearing: 223.109687 deg,
      approachRate: 0.708993 m/s,
      LOS rate: -0.941942 deg/s,
      cmd update: -3.767768 deg/s,
      cmd heading: 228.614443 deg,
      new cmd heading: 228.314910 deg.

2021-08-15T00:55:34.574Z,1628988934.574 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T00:55:34.948Z,1628988934.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:55:35.132Z,1628988935.132 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:55:35.132Z,1628988935.132 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:55:35.132Z,1628988935.132 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:55:35.133Z,1628988935.133 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:55:35.364Z,1628988935.364 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 06411861240000005D00000400260000000000000000151D80030C5669C08C799860399F6AA569474825B0BF55A3BAF037C0393952680E4BDD0EE200
2021-08-15T00:55:35.364Z,1628988935.364 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T00:55:35.555Z,1628988935.555 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,007A7,186,80,80,89,FF
2021-08-15T00:55:35.555Z,1628988935.555 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:55:35.555Z,1628988935.555 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:55:35.557Z,1628988935.557 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T00:55:35.558Z,1628988935.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:55:35.955Z,1628988935.955 [Micromodem](INFO): Nmea in: $CADRQ,005536,1,10,0,64,1*73

2021-08-15T00:55:35.955Z,1628988935.955 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,005536,1,10,0,64,1*73

2021-08-15T00:55:36.359Z,1628988936.359 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25E,000,007E0,18A,80,80,69,FF
2021-08-15T00:55:36.359Z,1628988936.359 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:55:36.364Z,1628988936.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:55:36.789Z,1628988936.789 [Micromodem](INFO): Nmea in: $SNTTA,0.057927,0.490333,,,005536.80*53

2021-08-15T00:55:36.906Z,1628988936.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.460007 m, bearing: 196.532983 deg, deltaT: 4.363648 s, approachRate: 0.783749 m/s, LOS rate: -6.090478 deg/s, posRepo size: 4
2021-08-15T00:55:36.912Z,1628988936.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.460007 m,
      bearing: 196.532983 deg,
      approachRate: 0.783749 m/s,
      LOS rate: -6.090478 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 212.232834 deg,
      new cmd heading: 210.444678 deg.

2021-08-15T00:55:39.094Z,1628988939.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:55:39.281Z,1628988939.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:55:39.281Z,1628988939.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:55:39.281Z,1628988939.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:55:39.282Z,1628988939.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:55:39.670Z,1628988939.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25E,000,007E0,18A,80,80,69,FF
2021-08-15T00:55:39.671Z,1628988939.671 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:55:39.671Z,1628988939.671 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:55:39.673Z,1628988939.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:55:40.077Z,1628988940.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:55:40.498Z,1628988940.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00814,186,80,80,7C,FF
2021-08-15T00:55:40.499Z,1628988940.499 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:55:40.909Z,1628988940.909 [Micromodem](INFO): Nmea in: $SNTTA,0.395133,0.433841,,,005540.91*55

2021-08-15T00:55:41.147Z,1628988941.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.579994 m, bearing: 234.852558 deg, deltaT: 4.099979 s, approachRate: 0.760976 m/s, LOS rate: 9.346286 deg/s, posRepo size: 4
2021-08-15T00:55:41.149Z,1628988941.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.579994 m,
      bearing: 234.852558 deg,
      approachRate: 0.760976 m/s,
      LOS rate: 9.346286 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 162.984820 deg,
      new cmd heading: 155.646532 deg.

2021-08-15T00:55:43.389Z,1628988943.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:55:43.761Z,1628988943.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:55:43.762Z,1628988943.762 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:55:43.762Z,1628988943.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:55:43.763Z,1628988943.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:55:44.161Z,1628988944.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,00814,186,80,80,7C,FF
2021-08-15T00:55:44.162Z,1628988944.162 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:55:44.162Z,1628988944.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:55:44.163Z,1628988944.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:55:44.569Z,1628988944.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:55:44.966Z,1628988944.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37D,000,00840,189,80,80,9F,FF
2021-08-15T00:55:44.966Z,1628988944.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:55:45.434Z,1628988945.434 [Micromodem](INFO): Nmea in: $SNTTA,0.077348,,,,005545.40*4A

2021-08-15T00:55:45.455Z,1628988945.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.220009 m, bearing: 152.701528 deg, deltaT: 4.696077 s, approachRate: 0.562174 m/s, LOS rate: -17.493544 deg/s, posRepo size: 4
2021-08-15T00:55:45.456Z,1628988945.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.493544 deg/s. Setting heading cmd to target bearing of 152.701528deg and heading rate command to 0 deg/s.
2021-08-15T00:55:47.876Z,1628988947.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:55:48.230Z,1628988948.230 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:55:48.230Z,1628988948.230 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:55:48.230Z,1628988948.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:55:48.230Z,1628988948.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:55:48.653Z,1628988948.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37D,000,00840,189,80,80,9F,FF
2021-08-15T00:55:48.653Z,1628988948.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:55:48.654Z,1628988948.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:55:48.663Z,1628988948.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:55:49.041Z,1628988949.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:55:49.449Z,1628988949.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32F,000,00865,189,80,80,9F,FF
2021-08-15T00:55:49.450Z,1628988949.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:55:49.886Z,1628988949.886 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005549.90*5A

2021-08-15T00:55:49.933Z,1628988949.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.440002 m, bearing: 147.183309 deg, deltaT: 4.219230 s, approachRate: 0.526161 m/s, LOS rate: -1.307874 deg/s, posRepo size: 4
2021-08-15T00:55:49.935Z,1628988949.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.440002 m,
      bearing: 147.183309 deg,
      approachRate: 0.526161 m/s,
      LOS rate: -1.307874 deg/s,
      cmd update: -5.231494 deg/s,
      cmd heading: 152.701528 deg,
      new cmd heading: 152.701528 deg.

2021-08-15T00:55:52.295Z,1628988952.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:55:52.720Z,1628988952.720 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:55:52.720Z,1628988952.720 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:55:52.720Z,1628988952.720 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:55:52.721Z,1628988952.721 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:55:53.077Z,1628988953.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32F,000,00865,189,80,80,9F,FF
2021-08-15T00:55:53.077Z,1628988953.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:55:53.077Z,1628988953.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:55:53.079Z,1628988953.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:55:53.504Z,1628988953.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:55:54.338Z,1628988954.338 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005554.32*5E

2021-08-15T00:55:54.807Z,1628988954.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:55:56.354Z,1628988956.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80F,000,00865,189,80,80,9F,FF
2021-08-15T00:55:56.354Z,1628988956.354 [DUSBL_Hydroid](INFO): No reply:!U1,N,80F,000,00865,189,80,80,9F,FF
2021-08-15T00:55:56.355Z,1628988956.355 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:55:57.626Z,1628988957.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:55:57.969Z,1628988957.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:55:57.969Z,1628988957.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:55:57.969Z,1628988957.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:55:57.970Z,1628988957.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:55:58.401Z,1628988958.401 [DUSBL_Hydroid](INFO): DUSBL response received:,80,63,E4
!U1,P
865,189,80,80,9F,FF
2021-08-15T00:55:58.401Z,1628988958.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:55:58.401Z,1628988958.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:55:58.403Z,1628988958.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:55:58.800Z,1628988958.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:55:59.213Z,1628988959.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,008AE,186,80,80,97,FF
2021-08-15T00:55:59.214Z,1628988959.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:55:59.641Z,1628988959.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005559.64*50

2021-08-15T00:55:59.675Z,1628988959.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.820007 m, bearing: 143.544389 deg, deltaT: 9.830241 s, approachRate: 0.445564 m/s, LOS rate: -0.370176 deg/s, posRepo size: 4
2021-08-15T00:55:59.678Z,1628988959.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.820007 m,
      bearing: 143.544389 deg,
      approachRate: 0.445564 m/s,
      LOS rate: -0.370176 deg/s,
      cmd update: -1.480704 deg/s,
      cmd heading: 101.318661 deg,
      new cmd heading: 99.295360 deg.

2021-08-15T00:56:02.109Z,1628988962.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:56:02.489Z,1628988962.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:56:02.489Z,1628988962.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:56:02.489Z,1628988962.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:56:02.490Z,1628988962.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:56:02.893Z,1628988962.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,008AE,186,80,80,97,FF
2021-08-15T00:56:02.893Z,1628988962.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:56:02.894Z,1628988962.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:56:02.902Z,1628988962.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:56:03.289Z,1628988963.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:56:03.694Z,1628988963.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C5B,000,008C1,189,80,80,67,FF
2021-08-15T00:56:03.694Z,1628988963.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:56:04.118Z,1628988964.118 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005604.14*5C

2021-08-15T00:56:04.173Z,1628988964.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.959999 m, bearing: 196.133048 deg, deltaT: 4.418656 s, approachRate: 0.257995 m/s, LOS rate: 11.901506 deg/s, posRepo size: 4
2021-08-15T00:56:04.173Z,1628988964.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.901506 deg/s. Setting heading cmd to target bearing of 196.133048deg and heading rate command to 0 deg/s.
2021-08-15T00:56:05.465Z,1628988965.465 [Micromodem](INFO): Nmea in: $CAERR,005606,DATA_TIMEOUT,1*4B

2021-08-15T00:56:06.302Z,1628988966.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:56:06.692Z,1628988966.692 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:56:06.693Z,1628988966.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:56:06.693Z,1628988966.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:56:06.695Z,1628988966.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:56:07.225Z,1628988967.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C5B,000,008C1,189,80,80,67,FF
2021-08-15T00:56:07.226Z,1628988967.226 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:56:07.226Z,1628988967.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:56:07.231Z,1628988967.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:56:07.616Z,1628988967.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:56:08.017Z,1628988968.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008C5,189,80,80,92,FF
2021-08-15T00:56:08.017Z,1628988968.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:56:08.449Z,1628988968.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005608.47*56

2021-08-15T00:56:08.496Z,1628988968.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.200005 m, bearing: 72.863037 deg, deltaT: 4.410798 s, approachRate: 0.054413 m/s, LOS rate: -27.947326 deg/s, posRepo size: 4
2021-08-15T00:56:08.497Z,1628988968.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -27.947326 deg/s. Setting heading cmd to target bearing of 72.863037deg and heading rate command to 0 deg/s.
2021-08-15T00:56:11.010Z,1628988971.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:56:11.257Z,1628988971.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:56:11.257Z,1628988971.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:56:11.257Z,1628988971.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:56:11.258Z,1628988971.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:56:11.685Z,1628988971.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008C5,189,80,80,92,FF
2021-08-15T00:56:11.685Z,1628988971.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:56:11.685Z,1628988971.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:56:11.687Z,1628988971.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:56:12.098Z,1628988972.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:56:12.489Z,1628988972.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D65,000,008BB,189,80,80,B1,FF
2021-08-15T00:56:12.490Z,1628988972.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:56:12.915Z,1628988972.915 [Micromodem](INFO): Nmea in: $SNTTA,0.246557,0.385657,,,005612.93*59

2021-08-15T00:56:13.005Z,1628988973.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.600006 m, bearing: 166.102865 deg, deltaT: 4.423559 s, approachRate: -0.135637 m/s, LOS rate: 21.078012 deg/s, posRepo size: 4
2021-08-15T00:56:13.006Z,1628988973.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.078012 deg/s. Setting heading cmd to target bearing of 166.102865deg and heading rate command to 0 deg/s.
2021-08-15T00:56:15.346Z,1628988975.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:56:15.722Z,1628988975.722 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:56:15.722Z,1628988975.722 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:56:15.722Z,1628988975.722 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:56:15.723Z,1628988975.723 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:56:16.133Z,1628988976.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D65,000,008BB,189,80,80,B1,FF
2021-08-15T00:56:16.133Z,1628988976.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:56:16.133Z,1628988976.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:56:16.135Z,1628988976.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:56:16.554Z,1628988976.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:56:16.953Z,1628988976.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008BE,189,80,80,B5,FF
2021-08-15T00:56:16.954Z,1628988976.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:56:16.957Z,1628988976.957 [Micromodem](INFO): Nmea in: $SNTTA,0.202050,0.201925,,,005617.38*58

2021-08-15T00:56:17.396Z,1628988977.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.779999 m, bearing: 77.720203 deg, deltaT: 4.508646 s, approachRate: 0.039922 m/s, LOS rate: -19.602928 deg/s, posRepo size: 4
2021-08-15T00:56:17.397Z,1628988977.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.602928 deg/s. Setting heading cmd to target bearing of 77.720203deg and heading rate command to 0 deg/s.
2021-08-15T00:56:20.078Z,1628988980.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:56:20.227Z,1628988980.227 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:56:20.228Z,1628988980.228 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:56:20.228Z,1628988980.228 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:56:20.229Z,1628988980.229 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:56:20.617Z,1628988980.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008BE,189,80,80,B5,FF
2021-08-15T00:56:20.617Z,1628988980.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:56:20.617Z,1628988980.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:56:20.619Z,1628988980.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:56:21.027Z,1628988981.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:56:21.417Z,1628988981.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008BA,18A,80,80,94,FF
2021-08-15T00:56:21.417Z,1628988981.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:56:21.902Z,1628988981.902 [Micromodem](INFO): Nmea in: $SNTTA,0.063968,,,,005621.86*4C

2021-08-15T00:56:21.956Z,1628988981.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.540001 m, bearing: 72.795924 deg, deltaT: 4.395619 s, approachRate: -0.054599 m/s, LOS rate: -1.120270 deg/s, posRepo size: 4
2021-08-15T00:56:21.958Z,1628988981.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.540001 m,
      bearing: 72.795924 deg,
      approachRate: -0.054599 m/s,
      LOS rate: -1.120270 deg/s,
      cmd update: -4.481080 deg/s,
      cmd heading: 77.720203 deg,
      new cmd heading: 77.720203 deg.

2021-08-15T00:56:24.521Z,1628988984.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:56:24.663Z,1628988984.663 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:56:24.664Z,1628988984.664 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:56:24.665Z,1628988984.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:56:24.666Z,1628988984.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:56:25.053Z,1628988985.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008BA,18A,80,80,94,FF
2021-08-15T00:56:25.053Z,1628988985.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:56:25.053Z,1628988985.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:56:25.055Z,1628988985.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:56:25.505Z,1628988985.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:56:25.950Z,1628988985.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AB,000,008BC,189,80,80,82,FF
2021-08-15T00:56:25.950Z,1628988985.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:56:26.326Z,1628988986.326 [Micromodem](INFO): Nmea in: $SNTTA,0.068906,,,,005626.29*4D

2021-08-15T00:56:26.547Z,1628988986.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.660004 m, bearing: 88.825394 deg, deltaT: 4.582913 s, approachRate: 0.026185 m/s, LOS rate: 3.497660 deg/s, posRepo size: 4
2021-08-15T00:56:26.549Z,1628988986.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.660004 m,
      bearing: 88.825394 deg,
      approachRate: 0.026185 m/s,
      LOS rate: 3.497660 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 57.131803 deg,
      new cmd heading: 54.811441 deg.

2021-08-15T00:56:26.925Z,1628988986.925 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:56:28.953Z,1628988988.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:56:29.269Z,1628988989.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:56:29.269Z,1628988989.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:56:29.269Z,1628988989.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:56:29.270Z,1628988989.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:56:29.665Z,1628988989.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AB,000,008BC,189,80,80,82,FF
2021-08-15T00:56:29.666Z,1628988989.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:56:29.666Z,1628988989.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:56:29.667Z,1628988989.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:56:30.073Z,1628988990.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:56:30.473Z,1628988990.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008B7,189,80,80,B7,FF
2021-08-15T00:56:30.474Z,1628988990.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:56:30.905Z,1628988990.905 [Micromodem](INFO): Nmea in: $SNTTA,0.436452,0.436352,,,005630.91*51

2021-08-15T00:56:31.157Z,1628988991.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.360001 m, bearing: 53.996262 deg, deltaT: 4.491525 s, approachRate: -0.066793 m/s, LOS rate: -7.754411 deg/s, posRepo size: 4
2021-08-15T00:56:31.159Z,1628988991.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.360001 m,
      bearing: 53.996262 deg,
      approachRate: -0.066793 m/s,
      LOS rate: -7.754411 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 111.128109 deg,
      new cmd heading: 118.667169 deg.

2021-08-15T00:56:32.199Z,1628988992.199 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:56:33.256Z,1628988993.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:56:33.389Z,1628988993.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:56:33.389Z,1628988993.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:56:33.389Z,1628988993.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:56:33.390Z,1628988993.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:56:33.789Z,1628988993.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008B7,189,80,80,B7,FF
2021-08-15T00:56:33.790Z,1628988993.790 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:56:33.790Z,1628988993.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:56:33.791Z,1628988993.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:56:34.193Z,1628988994.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:56:34.598Z,1628988994.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008A6,189,80,80,A5,FF
2021-08-15T00:56:34.598Z,1628988994.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:56:35.033Z,1628988995.033 [Micromodem](INFO): Nmea in: $SNTTA,0.068828,,,,005635.03*4A

2021-08-15T00:56:35.090Z,1628988995.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.340004 m, bearing: 41.468619 deg, deltaT: 4.117624 s, approachRate: -0.247715 m/s, LOS rate: -3.042445 deg/s, posRepo size: 4
2021-08-15T00:56:35.112Z,1628988995.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.340004 m,
      bearing: 41.468619 deg,
      approachRate: -0.247715 m/s,
      LOS rate: -3.042445 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 62.031992 deg,
      new cmd heading: 56.391343 deg.

2021-08-15T00:56:37.076Z,1628988997.076 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T00:56:37.660Z,1628988997.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:56:37.825Z,1628988997.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:56:37.825Z,1628988997.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:56:37.825Z,1628988997.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:56:37.826Z,1628988997.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:56:38.233Z,1628988998.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008A6,189,80,80,A5,FF
2021-08-15T00:56:38.233Z,1628988998.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:56:38.233Z,1628988998.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:56:38.235Z,1628988998.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:56:38.647Z,1628988998.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:56:39.033Z,1628988999.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,403,000,0088C,189,80,80,92,FF
2021-08-15T00:56:39.033Z,1628988999.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:56:39.036Z,1628988999.036 [Micromodem](INFO): Nmea in: 8*5D

2021-08-15T00:56:39.036Z,1628988999.036 [Micromodem](ERROR): Response from modem failed NMEA checksum: 8*5D
 expected 0
2021-08-15T00:56:39.683Z,1628988999.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.780006 m, bearing: 44.582523 deg, deltaT: 4.464425 s, approachRate: -0.349429 m/s, LOS rate: 0.697493 deg/s, posRepo size: 4
2021-08-15T00:56:39.685Z,1628988999.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.780006 m,
      bearing: 44.582523 deg,
      approachRate: -0.349429 m/s,
      LOS rate: 0.697493 deg/s,
      cmd update: 2.789971 deg/s,
      cmd heading: 8.191362 deg,
      new cmd heading: 1.275282 deg.

2021-08-15T00:56:40.745Z,1628989000.745 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T00:56:41.323Z,1628989001.323 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 06411861240000005D00000400260000000000000000151D80030C5669C08C799860399F6AA569474825B0BF55A3BAF037C0393952680E4BDD0EE200
2021-08-15T00:56:41.324Z,1628989001.324 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T00:56:41.580Z,1628989001.580 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T00:56:41.978Z,1628989001.978 [Micromodem](INFO): Nmea in: $CADRQ,005642,1,10,0,64,1*73

2021-08-15T00:56:41.979Z,1628989001.979 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861240000005D00000400260000000000000000151D80030C5669C08C799860399F6AA569474825B0BF55A3BAF037C0393952680E4BDD0EE200*48

2021-08-15T00:56:42.023Z,1628989002.023 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:56:42.083Z,1628989002.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:56:42.397Z,1628989002.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:56:42.397Z,1628989002.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:56:42.397Z,1628989002.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:56:42.398Z,1628989002.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:56:42.404Z,1628989002.404 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T00:56:42.790Z,1628989002.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
403,000,0088C,189,80,80,92,FF
2021-08-15T00:56:42.790Z,1628989002.790 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:56:42.790Z,1628989002.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:56:42.791Z,1628989002.791 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T00:56:42.792Z,1628989002.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:56:44.026Z,1628989004.026 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T00:56:44.026Z,1628989004.026 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T00:56:44.443Z,1628989004.443 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,005643.243144,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-15T00:56:44.443Z,1628989004.443 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,005643.243144,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-15T00:56:44.951Z,1628989004.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:56:46.074Z,1628989006.074 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T00:56:46.075Z,1628989006.075 [Micromodem](INFO): Sent 52 bytes from file Logs/20210814T221742/Courier0036.lzma.parts
2021-08-15T00:56:46.075Z,1628989006.075 [Micromodem](INFO): Packets left to send: 0
2021-08-15T00:56:46.761Z,1628989006.761 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815005646.190930,06,17824,42,0126,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,16.1,8.10,15,-5.10,-01,-0.59,52,14500,4000*4D

2021-08-15T00:56:46.762Z,1628989006.762 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815005646.190930,06,17824,42,0126,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,16.1,8.10,15,-5.10,-01,-0.59,52,14500,4000*4D

2021-08-15T00:56:47.064Z,1628989007.064 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T00:56:47.083Z,1628989007.083 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T00:56:47.083Z,1628989007.083 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T00:56:47.083Z,1628989007.083 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T00:56:47.083Z,1628989007.083 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T00:56:47.116Z,1628989007.116 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T00:56:47.703Z,1628989007.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:56:48.496Z,1628989008.496 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.097966
2021-08-15T00:56:50.530Z,1628989010.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:56:50.933Z,1628989010.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:56:50.933Z,1628989010.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:56:50.933Z,1628989010.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:56:50.934Z,1628989010.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:56:51.317Z,1628989011.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
403,000,0088C,189,80,80,92,FF
2021-08-15T00:56:51.317Z,1628989011.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:56:51.318Z,1628989011.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:56:52.133Z,1628989012.133 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T00:56:53.370Z,1628989013.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:56:54.150Z,1628989014.150 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:56:54.562Z,1628989014.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:56:54.953Z,1628989014.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,007F9,185,80,80,A1,FF
2021-08-15T00:56:54.953Z,1628989014.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:56:55.398Z,1628989015.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005655.39*57

2021-08-15T00:56:55.424Z,1628989015.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.959999 m, bearing: 44.567691 deg, deltaT: 15.930633 s, approachRate: -0.553651 m/s, LOS rate: -0.000931 deg/s, posRepo size: 4
2021-08-15T00:56:55.426Z,1628989015.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.959999 m,
      bearing: 44.567691 deg,
      approachRate: -0.553651 m/s,
      LOS rate: -0.000931 deg/s,
      cmd update: -0.003724 deg/s,
      cmd heading: 52.593350 deg,
      new cmd heading: 53.715311 deg.

2021-08-15T00:56:57.799Z,1628989017.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:56:58.185Z,1628989018.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:56:58.185Z,1628989018.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:56:58.185Z,1628989018.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:56:58.186Z,1628989018.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:56:58.589Z,1628989018.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,007F9,185,80,80,A1,FF
2021-08-15T00:56:58.589Z,1628989018.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:56:58.589Z,1628989018.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:56:58.591Z,1628989018.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:56:58.997Z,1628989018.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:56:59.397Z,1628989019.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F0,000,007C8,185,80,80,AE,FF
2021-08-15T00:56:59.398Z,1628989019.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:56:59.833Z,1628989019.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005659.83*5A

2021-08-15T00:56:59.907Z,1628989019.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.020004 m, bearing: 43.430427 deg, deltaT: 4.372806 s, approachRate: -0.672336 m/s, LOS rate: -0.260077 deg/s, posRepo size: 4
2021-08-15T00:56:59.914Z,1628989019.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.020004 m,
      bearing: 43.430427 deg,
      approachRate: -0.672336 m/s,
      LOS rate: -0.260077 deg/s,
      cmd update: -1.040306 deg/s,
      cmd heading: 52.576991 deg,
      new cmd heading: 52.575154 deg.

2021-08-15T00:57:01.950Z,1628989021.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:57:02.229Z,1628989022.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:57:02.229Z,1628989022.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:57:02.230Z,1628989022.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:57:02.230Z,1628989022.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:57:02.646Z,1628989022.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F0,000,007C8,185,80,80,AE,FF
2021-08-15T00:57:02.646Z,1628989022.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:57:02.647Z,1628989022.647 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:57:02.658Z,1628989022.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:57:03.072Z,1628989023.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:57:03.469Z,1628989023.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15F,000,0079E,186,80,80,8A,FF
2021-08-15T00:57:03.470Z,1628989023.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:57:03.918Z,1628989023.918 [Micromodem](INFO): Nmea in: $SNTTA,0.063497,,,,005703.90*47

2021-08-15T00:57:03.948Z,1628989023.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.500008 m, bearing: 42.846125 deg, deltaT: 4.072069 s, approachRate: -0.618849 m/s, LOS rate: -0.143490 deg/s, posRepo size: 4
2021-08-15T00:57:03.950Z,1628989023.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.500008 m,
      bearing: 42.846125 deg,
      approachRate: -0.618849 m/s,
      LOS rate: -0.143490 deg/s,
      cmd update: -0.573961 deg/s,
      cmd heading: 48.340730 deg,
      new cmd heading: 47.860415 deg.

2021-08-15T00:57:06.322Z,1628989026.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:57:06.741Z,1628989026.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:57:06.741Z,1628989026.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:57:06.741Z,1628989026.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:57:06.742Z,1628989026.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:57:07.101Z,1628989027.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15F,000,0079E,186,80,80,8A,FF
2021-08-15T00:57:07.101Z,1628989027.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:57:07.101Z,1628989027.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:57:07.103Z,1628989027.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:57:07.517Z,1628989027.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:57:07.937Z,1628989027.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F7,000,0076F,186,80,80,A4,FF
2021-08-15T00:57:07.937Z,1628989027.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:57:08.357Z,1628989028.357 [Micromodem](INFO): Nmea in: $SNTTA,0.057885,,,,005708.35*4B

2021-08-15T00:57:08.379Z,1628989028.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.680000 m, bearing: 43.630900 deg, deltaT: 4.477927 s, approachRate: -0.629757 m/s, LOS rate: 0.175254 deg/s, posRepo size: 4
2021-08-15T00:57:08.382Z,1628989028.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.680000 m,
      bearing: 43.630900 deg,
      approachRate: -0.629757 m/s,
      LOS rate: 0.175254 deg/s,
      cmd update: 0.701016 deg/s,
      cmd heading: 45.770575 deg,
      new cmd heading: 45.532163 deg.

2021-08-15T00:57:10.846Z,1628989030.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:57:11.145Z,1628989031.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:57:11.145Z,1628989031.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:57:11.146Z,1628989031.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:57:11.146Z,1628989031.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:57:11.545Z,1628989031.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F7,000,0076F,186,80,80,A4,FF
2021-08-15T00:57:11.545Z,1628989031.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:57:11.545Z,1628989031.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:57:11.547Z,1628989031.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:57:11.975Z,1628989031.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:57:11.998Z,1628989031.998 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T00:57:12.361Z,1628989032.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,0073D,186,80,80,94,FF
2021-08-15T00:57:12.362Z,1628989032.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:57:12.813Z,1628989032.813 [Micromodem](INFO): Nmea in: $SNTTA,0.071108,,,,005712.79*40

2021-08-15T00:57:12.905Z,1628989032.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.680000 m, bearing: 43.682680 deg, deltaT: 4.442548 s, approachRate: -0.675288 m/s, LOS rate: 0.011655 deg/s, posRepo size: 4
2021-08-15T00:57:12.907Z,1628989032.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.680000 m,
      bearing: 43.682680 deg,
      approachRate: -0.675288 m/s,
      LOS rate: 0.011655 deg/s,
      cmd update: 0.046622 deg/s,
      cmd heading: 48.881969 deg,
      new cmd heading: 49.231226 deg.

2021-08-15T00:57:14.911Z,1628989034.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:57:15.189Z,1628989035.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:57:15.189Z,1628989035.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:57:15.189Z,1628989035.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:57:15.190Z,1628989035.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:57:15.601Z,1628989035.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,0073D,186,80,80,94,FF
2021-08-15T00:57:15.601Z,1628989035.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:57:15.601Z,1628989035.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:57:15.603Z,1628989035.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:57:16.077Z,1628989036.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:57:16.469Z,1628989036.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,00713,186,80,80,8B,FF
2021-08-15T00:57:16.470Z,1628989036.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:57:16.917Z,1628989036.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005716.84*57

2021-08-15T00:57:16.982Z,1628989036.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.159996 m, bearing: 41.987717 deg, deltaT: 4.115936 s, approachRate: -0.612255 m/s, LOS rate: -0.411805 deg/s, posRepo size: 4
2021-08-15T00:57:16.985Z,1628989036.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.159996 m,
      bearing: 41.987717 deg,
      approachRate: -0.612255 m/s,
      LOS rate: -0.411805 deg/s,
      cmd update: -1.647220 deg/s,
      cmd heading: 49.073868 deg,
      new cmd heading: 49.095483 deg.

2021-08-15T00:57:17.689Z,1628989037.689 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T00:57:19.320Z,1628989039.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:57:19.701Z,1628989039.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:57:19.701Z,1628989039.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:57:19.701Z,1628989039.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:57:19.702Z,1628989039.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:57:20.114Z,1628989040.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,00713,186,80,80,8B,FF
2021-08-15T00:57:20.115Z,1628989040.115 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:57:20.115Z,1628989040.115 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:57:20.117Z,1628989040.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:57:20.513Z,1628989040.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:57:20.937Z,1628989040.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,006DD,186,80,80,AE,FF
2021-08-15T00:57:20.937Z,1628989040.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:57:21.357Z,1628989041.357 [Micromodem](INFO): Nmea in: $SNTTA,0.059814,,,,005721.36*45

2021-08-15T00:57:21.374Z,1628989041.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.920006 m, bearing: 41.505782 deg, deltaT: 4.482542 s, approachRate: -0.722802 m/s, LOS rate: -0.107514 deg/s, posRepo size: 4
2021-08-15T00:57:21.376Z,1628989041.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.920006 m,
      bearing: 41.505782 deg,
      approachRate: -0.722802 m/s,
      LOS rate: -0.107514 deg/s,
      cmd update: -0.430055 deg/s,
      cmd heading: 41.684050 deg,
      new cmd heading: 41.076293 deg.

2021-08-15T00:57:23.804Z,1628989043.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:57:24.145Z,1628989044.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:57:24.145Z,1628989044.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:57:24.145Z,1628989044.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:57:24.146Z,1628989044.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:57:24.549Z,1628989044.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,006DD,186,80,80,AE,FF
2021-08-15T00:57:24.549Z,1628989044.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:57:24.549Z,1628989044.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:57:24.551Z,1628989044.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:57:24.961Z,1628989044.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:57:25.354Z,1628989045.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,006B0,186,80,80,AA,FF
2021-08-15T00:57:25.354Z,1628989045.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:57:25.949Z,1628989045.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005725.79*55

2021-08-15T00:57:25.993Z,1628989045.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.220001 m, bearing: 44.580348 deg, deltaT: 4.393842 s, approachRate: -0.614497 m/s, LOS rate: 0.699744 deg/s, posRepo size: 4
2021-08-15T00:57:25.996Z,1628989045.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.220001 m,
      bearing: 44.580348 deg,
      approachRate: -0.614497 m/s,
      LOS rate: 0.699744 deg/s,
      cmd update: 2.798977 deg/s,
      cmd heading: 39.803008 deg,
      new cmd heading: 39.539634 deg.

2021-08-15T00:57:27.923Z,1628989047.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:57:28.269Z,1628989048.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:57:28.269Z,1628989048.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:57:28.269Z,1628989048.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:57:28.270Z,1628989048.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:57:28.695Z,1628989048.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,006B0,186,80,80,AA,FF
2021-08-15T00:57:28.695Z,1628989048.695 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:57:28.695Z,1628989048.695 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:57:28.706Z,1628989048.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:57:29.109Z,1628989049.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:57:29.481Z,1628989049.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,00681,184,80,80,91,FF
2021-08-15T00:57:29.482Z,1628989049.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:57:29.909Z,1628989049.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005729.95*5B

2021-08-15T00:57:29.960Z,1628989049.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.400005 m, bearing: 44.607508 deg, deltaT: 4.127480 s, approachRate: -0.683225 m/s, LOS rate: 0.006580 deg/s, posRepo size: 4
2021-08-15T00:57:29.962Z,1628989049.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.400005 m,
      bearing: 44.607508 deg,
      approachRate: -0.683225 m/s,
      LOS rate: 0.006580 deg/s,
      cmd update: 0.026321 deg/s,
      cmd heading: 51.332642 deg,
      new cmd heading: 52.613602 deg.

2021-08-15T00:57:32.327Z,1628989052.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:57:32.745Z,1628989052.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:57:32.745Z,1628989052.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:57:32.745Z,1628989052.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:57:32.746Z,1628989052.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:57:33.120Z,1628989053.120 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,00681,184,80,80,91,FF
2021-08-15T00:57:33.120Z,1628989053.120 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:57:33.121Z,1628989053.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:57:33.122Z,1628989053.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:57:33.514Z,1628989053.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:57:33.949Z,1628989053.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,0064E,185,80,80,C8,FF
2021-08-15T00:57:33.949Z,1628989053.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:57:34.374Z,1628989054.374 [Micromodem](INFO): Nmea in: $SNTTA,0.075273,,,,005734.36*44

2021-08-15T00:57:34.412Z,1628989054.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.340008 m, bearing: 41.325797 deg, deltaT: 4.469038 s, approachRate: -0.684711 m/s, LOS rate: -0.734322 deg/s, posRepo size: 4
2021-08-15T00:57:34.414Z,1628989054.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.340008 m,
      bearing: 41.325797 deg,
      approachRate: -0.684711 m/s,
      LOS rate: -0.734322 deg/s,
      cmd update: -2.937287 deg/s,
      cmd heading: 51.451020 deg,
      new cmd heading: 51.461983 deg.

2021-08-15T00:57:36.806Z,1628989056.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:57:37.173Z,1628989057.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:57:37.173Z,1628989057.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:57:37.173Z,1628989057.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:57:37.175Z,1628989057.175 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:57:37.557Z,1628989057.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10D,000,0064E,185,80,80,C8,FF
2021-08-15T00:57:37.557Z,1628989057.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:57:37.558Z,1628989057.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:57:37.559Z,1628989057.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:57:37.976Z,1628989057.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:57:38.806Z,1628989058.806 [Micromodem](INFO): Nmea in: $SNTTA,0.488931,,,,005738.80*4E

2021-08-15T00:57:39.603Z,1628989059.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:57:40.389Z,1628989060.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AC,000,06273,186,80,80,B9,FF
2021-08-15T00:57:40.389Z,1628989060.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:57:40.873Z,1628989060.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1474.679932 m, bearing: 43.420083 deg, deltaT: 6.410369 s, approachRate: 220.789154 m/s, LOS rate: 0.326703 deg/s, posRepo size: 4
2021-08-15T00:57:40.900Z,1628989060.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1474.679932 m,
      bearing: 43.420083 deg,
      approachRate: 220.789154 m/s,
      LOS rate: 0.326703 deg/s,
      cmd update: 1.306812 deg/s,
      cmd heading: 32.621691 deg,
      new cmd heading: 31.263798 deg.

2021-08-15T00:57:42.927Z,1628989062.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:57:43.218Z,1628989063.218 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:57:43.218Z,1628989063.218 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:57:43.218Z,1628989063.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:57:43.219Z,1628989063.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:57:43.625Z,1628989063.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AC,000,06273,186,80,80,B9,FF
2021-08-15T00:57:43.625Z,1628989063.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:57:43.625Z,1628989063.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:57:43.627Z,1628989063.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:57:44.036Z,1628989064.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:57:44.433Z,1628989064.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,005E1,187,80,80,9F,FF
2021-08-15T00:57:44.433Z,1628989064.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:57:44.897Z,1628989064.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005744.87*53

2021-08-15T00:57:44.972Z,1628989064.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.799999 m, bearing: 46.930687 deg, deltaT: 4.069968 s, approachRate: -349.358978 m/s, LOS rate: 0.862563 deg/s, posRepo size: 4
2021-08-15T00:57:44.974Z,1628989064.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.799999 m,
      bearing: 46.930687 deg,
      approachRate: -349.358978 m/s,
      LOS rate: 0.862563 deg/s,
      cmd update: 3.450253 deg/s,
      cmd heading: 37.940339 deg,
      new cmd heading: 38.567299 deg.

2021-08-15T00:57:47.283Z,1628989067.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:57:47.661Z,1628989067.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:57:47.661Z,1628989067.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:57:47.661Z,1628989067.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:57:47.662Z,1628989067.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:57:48.069Z,1628989068.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,005E1,187,80,80,9F,FF
2021-08-15T00:57:48.069Z,1628989068.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:57:48.069Z,1628989068.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:57:48.071Z,1628989068.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:57:48.482Z,1628989068.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:57:48.901Z,1628989068.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,005B1,182,80,80,97,FF
2021-08-15T00:57:48.901Z,1628989068.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:57:49.318Z,1628989069.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005749.32*50

2021-08-15T00:57:49.333Z,1628989069.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.920002 m, bearing: 43.885403 deg, deltaT: 4.515547 s, approachRate: -0.637796 m/s, LOS rate: -0.674400 deg/s, posRepo size: 4
2021-08-15T00:57:49.335Z,1628989069.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.920002 m,
      bearing: 43.885403 deg,
      approachRate: -0.637796 m/s,
      LOS rate: -0.674400 deg/s,
      cmd update: -2.697599 deg/s,
      cmd heading: 53.519603 deg,
      new cmd heading: 54.697947 deg.

2021-08-15T00:57:51.746Z,1628989071.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:57:52.109Z,1628989072.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:57:52.109Z,1628989072.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:57:52.109Z,1628989072.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:57:52.110Z,1628989072.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:57:52.513Z,1628989072.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,005B1,182,80,80,97,FF
2021-08-15T00:57:52.513Z,1628989072.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:57:52.513Z,1628989072.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:57:52.515Z,1628989072.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:57:52.961Z,1628989072.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:57:53.317Z,1628989073.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,00588,186,80,80,64,FF
2021-08-15T00:57:53.318Z,1628989073.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:57:53.765Z,1628989073.765 [Micromodem](INFO): Nmea in: $SNTTA,0.061779,,,,005753.76*4B

2021-08-15T00:57:53.797Z,1628989073.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.459999 m, bearing: 42.466817 deg, deltaT: 4.343099 s, approachRate: -0.566417 m/s, LOS rate: -0.326630 deg/s, posRepo size: 4
2021-08-15T00:57:53.799Z,1628989073.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.459999 m,
      bearing: 42.466817 deg,
      approachRate: -0.566417 m/s,
      LOS rate: -0.326630 deg/s,
      cmd update: -1.306519 deg/s,
      cmd heading: 41.803179 deg,
      new cmd heading: 40.558388 deg.

2021-08-15T00:57:56.198Z,1628989076.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:57:56.555Z,1628989076.555 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:57:56.555Z,1628989076.555 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:57:56.555Z,1628989076.555 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:57:56.556Z,1628989076.556 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:57:56.993Z,1628989076.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10D,000,00588,186,80,80,64,FF
2021-08-15T00:57:56.993Z,1628989076.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:57:56.993Z,1628989076.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:57:56.995Z,1628989076.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:57:57.385Z,1628989077.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:57:57.797Z,1628989077.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,0054E,186,80,80,B7,FF
2021-08-15T00:57:57.797Z,1628989077.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:57:58.218Z,1628989078.218 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005758.24*57

2021-08-15T00:57:58.259Z,1628989078.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.980000 m, bearing: 45.656540 deg, deltaT: 4.509599 s, approachRate: -0.771687 m/s, LOS rate: 0.707318 deg/s, posRepo size: 4
2021-08-15T00:57:58.261Z,1628989078.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.980000 m,
      bearing: 45.656540 deg,
      approachRate: -0.771687 m/s,
      LOS rate: 0.707318 deg/s,
      cmd update: 2.829274 deg/s,
      cmd heading: 35.912321 deg,
      new cmd heading: 35.369367 deg.

2021-08-15T00:58:00.649Z,1628989080.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:58:01.009Z,1628989081.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:58:01.009Z,1628989081.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:58:01.009Z,1628989081.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:58:01.010Z,1628989081.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:58:01.414Z,1628989081.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,0054E,186,80,80,B7,FF
2021-08-15T00:58:01.414Z,1628989081.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:58:01.414Z,1628989081.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:58:01.416Z,1628989081.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:58:01.829Z,1628989081.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:58:02.234Z,1628989082.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,00520,185,80,80,88,FF
2021-08-15T00:58:02.234Z,1628989082.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:58:02.693Z,1628989082.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005802.66*51

2021-08-15T00:58:02.749Z,1628989082.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.220001 m, bearing: 44.958282 deg, deltaT: 4.442138 s, approachRate: -0.621322 m/s, LOS rate: -0.157189 deg/s, posRepo size: 4
2021-08-15T00:58:02.751Z,1628989082.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.220001 m,
      bearing: 44.958282 deg,
      approachRate: -0.621322 m/s,
      LOS rate: -0.157189 deg/s,
      cmd update: -0.628758 deg/s,
      cmd heading: 48.422234 deg,
      new cmd heading: 49.792853 deg.

2021-08-15T00:58:05.105Z,1628989085.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:58:05.462Z,1628989085.462 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:58:05.462Z,1628989085.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:58:05.462Z,1628989085.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:58:05.463Z,1628989085.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:58:05.885Z,1628989085.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,00520,185,80,80,88,FF
2021-08-15T00:58:05.885Z,1628989085.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:58:05.886Z,1628989085.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:58:05.895Z,1628989085.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:58:06.290Z,1628989086.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:58:06.713Z,1628989086.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,004F3,186,80,80,78,FF
2021-08-15T00:58:06.714Z,1628989086.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:58:07.101Z,1628989087.101 [Micromodem](INFO): Nmea in: $SNTTA,0.039297,,,,005807.14*49

2021-08-15T00:58:07.146Z,1628989087.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.520000 m, bearing: 44.792954 deg, deltaT: 4.484232 s, approachRate: -0.602110 m/s, LOS rate: -0.036869 deg/s, posRepo size: 4
2021-08-15T00:58:07.146Z,1628989087.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.52 m.
2021-08-15T00:58:07.148Z,1628989087.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.520000 m,
      bearing: 44.792954 deg,
      approachRate: -0.602110 m/s,
      LOS rate: -0.036869 deg/s,
      cmd update: -0.147475 deg/s,
      cmd heading: 45.601951 deg,
      new cmd heading: 45.353439 deg.

2021-08-15T00:58:07.530Z,1628989087.530 [PowerOnly](INFO): Powering up loadControl
2021-08-15T00:58:07.576Z,1628989087.576 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T00:58:07.576Z,1628989087.576 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:58:07.577Z,1628989087.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T00:58:07.577Z,1628989087.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T00:58:07.577Z,1628989087.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T00:58:07.577Z,1628989087.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T00:58:07.932Z,1628989087.932 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T00:58:07.954Z,1628989087.954 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T00:58:07.954Z,1628989087.954 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:58:07.954Z,1628989087.954 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T00:58:07.954Z,1628989087.954 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:58:09.570Z,1628989089.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:58:09.941Z,1628989089.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:58:09.941Z,1628989089.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:58:09.942Z,1628989089.942 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:58:09.943Z,1628989089.943 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:58:10.305Z,1628989090.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,004F3,186,80,80,78,FF
2021-08-15T00:58:10.305Z,1628989090.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:58:10.305Z,1628989090.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:58:10.307Z,1628989090.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:58:10.740Z,1628989090.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:58:11.121Z,1628989091.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,004BD,185,80,80,83,FF
2021-08-15T00:58:11.121Z,1628989091.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:58:11.151Z,1628989091.151 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:58:11.557Z,1628989091.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005811.55*53

2021-08-15T00:58:11.579Z,1628989091.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.279999 m, bearing: 43.052701 deg, deltaT: 4.378471 s, approachRate: -0.739985 m/s, LOS rate: -0.397457 deg/s, posRepo size: 4
2021-08-15T00:58:11.581Z,1628989091.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.28 m.
2021-08-15T00:58:11.583Z,1628989091.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.279999 m,
      bearing: 43.052701 deg,
      approachRate: -0.739985 m/s,
      LOS rate: -0.397457 deg/s,
      cmd update: -1.589828 deg/s,
      cmd heading: 44.953407 deg,
      new cmd heading: 44.889807 deg.

2021-08-15T00:58:14.058Z,1628989094.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:58:14.345Z,1628989094.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:58:14.345Z,1628989094.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:58:14.345Z,1628989094.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:58:14.346Z,1628989094.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:58:14.757Z,1628989094.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,004BD,185,80,80,83,FF
2021-08-15T00:58:14.757Z,1628989094.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:58:14.758Z,1628989094.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:58:14.759Z,1628989094.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:58:15.174Z,1628989095.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:58:15.577Z,1628989095.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,00495,186,80,80,5A,FF
2021-08-15T00:58:15.578Z,1628989095.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:58:15.622Z,1628989095.622 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:58:16.011Z,1628989096.011 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005816.00*54

2021-08-15T00:58:16.038Z,1628989096.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.880001 m, bearing: 41.738299 deg, deltaT: 4.470476 s, approachRate: -0.536855 m/s, LOS rate: -0.294018 deg/s, posRepo size: 4
2021-08-15T00:58:16.038Z,1628989096.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.88 m.
2021-08-15T00:58:16.041Z,1628989096.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.880001 m,
      bearing: 41.738299 deg,
      approachRate: -0.536855 m/s,
      LOS rate: -0.294018 deg/s,
      cmd update: -1.176073 deg/s,
      cmd heading: 37.845480 deg,
      new cmd heading: 37.179272 deg.

2021-08-15T00:58:18.423Z,1628989098.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:58:18.822Z,1628989098.822 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:58:18.822Z,1628989098.822 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:58:18.822Z,1628989098.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:58:18.823Z,1628989098.823 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:58:19.210Z,1628989099.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,00495,186,80,80,5A,FF
2021-08-15T00:58:19.210Z,1628989099.210 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:58:19.210Z,1628989099.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:58:19.213Z,1628989099.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:58:19.637Z,1628989099.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:58:20.025Z,1628989100.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00465,185,80,80,59,FF
2021-08-15T00:58:20.026Z,1628989100.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:58:20.088Z,1628989100.088 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:58:20.489Z,1628989100.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005820.46*53

2021-08-15T00:58:20.535Z,1628989100.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.000002 m, bearing: 43.377114 deg, deltaT: 4.466153 s, approachRate: -0.644850 m/s, LOS rate: 0.366941 deg/s, posRepo size: 4
2021-08-15T00:58:20.540Z,1628989100.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.00 m.
2021-08-15T00:58:20.541Z,1628989100.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.00 m.
2021-08-15T00:58:20.541Z,1628989100.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T00:58:20.543Z,1628989100.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.000002 m,
      bearing: 43.377114 deg,
      approachRate: -0.644850 m/s,
      LOS rate: 0.366941 deg/s,
      cmd update: 1.467764 deg/s,
      cmd heading: 32.602594 deg,
      new cmd heading: 32.063362 deg.

2021-08-15T00:58:22.955Z,1628989102.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:58:23.261Z,1628989103.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:58:23.261Z,1628989103.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:58:23.261Z,1628989103.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:58:23.262Z,1628989103.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:58:23.646Z,1628989103.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,00465,185,80,80,59,FF
2021-08-15T00:58:23.646Z,1628989103.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:58:23.646Z,1628989103.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:58:23.649Z,1628989103.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:58:24.077Z,1628989104.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:58:24.898Z,1628989104.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005824.89*54

2021-08-15T00:58:25.669Z,1628989105.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,036DF,186,80,80,AD,FF
2021-08-15T00:58:25.669Z,1628989105.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:58:25.732Z,1628989105.732 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:58:26.136Z,1628989106.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 805.320007 m, bearing: 43.549197 deg, deltaT: 5.643550 s, approachRate: 137.381607 m/s, LOS rate: 0.030492 deg/s, posRepo size: 4
2021-08-15T00:58:26.138Z,1628989106.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 805.320007 m,
      bearing: 43.549197 deg,
      approachRate: 137.381607 m/s,
      LOS rate: 0.030492 deg/s,
      cmd update: 0.121968 deg/s,
      cmd heading: 40.897759 deg,
      new cmd heading: 41.495546 deg.

2021-08-15T00:58:26.526Z,1628989106.526 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T00:58:26.526Z,1628989106.526 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:58:26.526Z,1628989106.526 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T00:58:26.527Z,1628989106.527 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T00:58:26.527Z,1628989106.527 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T00:58:26.527Z,1628989106.527 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T00:58:26.999Z,1628989106.999 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T00:58:26.999Z,1628989106.999 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:58:26.999Z,1628989106.999 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T00:58:26.999Z,1628989106.999 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:58:28.561Z,1628989108.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:58:28.929Z,1628989108.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:58:28.929Z,1628989108.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:58:28.929Z,1628989108.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:58:28.930Z,1628989108.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:58:29.305Z,1628989109.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,036DF,186,80,80,AD,FF
2021-08-15T00:58:29.305Z,1628989109.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:58:29.306Z,1628989109.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:58:29.310Z,1628989109.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:58:29.713Z,1628989109.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:58:30.118Z,1628989110.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,003FF,183,80,80,6E,FF
2021-08-15T00:58:30.119Z,1628989110.119 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:58:30.545Z,1628989110.545 [Micromodem](INFO): Nmea in: $SNTTA,0.327158,,,,005830.55*44

2021-08-15T00:58:30.567Z,1628989110.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 43.698126 deg, deltaT: 4.466879 s, approachRate: -174.940933 m/s, LOS rate: 0.033341 deg/s, posRepo size: 4
2021-08-15T00:58:30.570Z,1628989110.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.880001 m,
      bearing: 43.698126 deg,
      approachRate: -174.940933 m/s,
      LOS rate: 0.033341 deg/s,
      cmd update: 0.133363 deg/s,
      cmd heading: 41.441897 deg,
      new cmd heading: 41.487948 deg.

2021-08-15T00:58:31.044Z,1628989111.044 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T00:58:31.044Z,1628989111.044 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:58:31.044Z,1628989111.044 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T00:58:31.045Z,1628989111.045 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T00:58:31.045Z,1628989111.045 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T00:58:31.045Z,1628989111.045 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T00:58:31.358Z,1628989111.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T00:58:31.358Z,1628989111.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:58:31.358Z,1628989111.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T00:58:31.358Z,1628989111.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:58:33.040Z,1628989113.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:58:33.345Z,1628989113.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:58:33.345Z,1628989113.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:58:33.345Z,1628989113.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:58:33.346Z,1628989113.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:58:33.757Z,1628989113.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,003FF,183,80,80,6E,FF
2021-08-15T00:58:33.757Z,1628989113.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:58:33.757Z,1628989113.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:58:33.759Z,1628989113.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:58:34.167Z,1628989114.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:58:34.553Z,1628989114.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,003CF,184,80,80,5C,FF
2021-08-15T00:58:34.554Z,1628989114.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:58:34.594Z,1628989114.594 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:58:35.006Z,1628989115.006 [Micromodem](INFO): Nmea in: $SNTTA,0.045782,,,,005835.00*47

2021-08-15T00:58:35.101Z,1628989115.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 44.031361 deg, deltaT: 4.394994 s, approachRate: -0.655291 m/s, LOS rate: 0.075821 deg/s, posRepo size: 4
2021-08-15T00:58:35.103Z,1628989115.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.000000 m,
      bearing: 44.031361 deg,
      approachRate: -0.655291 m/s,
      LOS rate: 0.075821 deg/s,
      cmd update: 0.303286 deg/s,
      cmd heading: 42.026135 deg,
      new cmd heading: 42.095724 deg.

2021-08-15T00:58:37.419Z,1628989117.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:58:37.789Z,1628989117.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:58:37.789Z,1628989117.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:58:37.789Z,1628989117.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:58:37.790Z,1628989117.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:58:38.198Z,1628989118.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,003CF,184,80,80,5C,FF
2021-08-15T00:58:38.198Z,1628989118.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:58:38.198Z,1628989118.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:58:38.201Z,1628989118.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:58:38.604Z,1628989118.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:58:39.001Z,1628989119.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,003B5,184,80,80,94,FF
2021-08-15T00:58:39.001Z,1628989119.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:58:39.130Z,1628989119.130 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:58:39.445Z,1628989119.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005839.45*58

2021-08-15T00:58:39.467Z,1628989119.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.440001 m, bearing: 44.215342 deg, deltaT: 4.536146 s, approachRate: -0.343904 m/s, LOS rate: 0.040559 deg/s, posRepo size: 4
2021-08-15T00:58:39.470Z,1628989119.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.440001 m,
      bearing: 44.215342 deg,
      approachRate: -0.343904 m/s,
      LOS rate: 0.040559 deg/s,
      cmd update: 0.162236 deg/s,
      cmd heading: 43.402736 deg,
      new cmd heading: 43.511299 deg.

2021-08-15T00:58:41.899Z,1628989121.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:58:42.241Z,1628989122.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:58:42.241Z,1628989122.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:58:42.241Z,1628989122.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:58:42.242Z,1628989122.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:58:42.649Z,1628989122.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,003B5,184,80,80,94,FF
2021-08-15T00:58:42.649Z,1628989122.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:58:42.650Z,1628989122.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:58:42.665Z,1628989122.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:58:43.123Z,1628989123.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:58:43.453Z,1628989123.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00373,185,80,80,8B,FF
2021-08-15T00:58:43.453Z,1628989123.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:58:43.498Z,1628989123.498 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:58:43.891Z,1628989123.891 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005843.91*5C

2021-08-15T00:58:43.918Z,1628989123.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.479998 m, bearing: 46.129868 deg, deltaT: 4.367987 s, approachRate: -0.906597 m/s, LOS rate: 0.438309 deg/s, posRepo size: 4
2021-08-15T00:58:43.921Z,1628989123.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.479998 m,
      bearing: 46.129868 deg,
      approachRate: -0.906597 m/s,
      LOS rate: 0.438309 deg/s,
      cmd update: 1.753234 deg/s,
      cmd heading: 44.114179 deg,
      new cmd heading: 44.182798 deg.

2021-08-15T00:58:46.309Z,1628989126.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:58:46.717Z,1628989126.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:58:46.717Z,1628989126.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:58:46.717Z,1628989126.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:58:46.718Z,1628989126.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:58:47.081Z,1628989127.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,00373,185,80,80,8B,FF
2021-08-15T00:58:47.081Z,1628989127.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:58:47.081Z,1628989127.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:58:47.083Z,1628989127.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:58:47.489Z,1628989127.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:58:47.913Z,1628989127.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,00345,184,80,80,A6,FF
2021-08-15T00:58:47.913Z,1628989127.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:58:47.966Z,1628989127.966 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:58:48.338Z,1628989128.338 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005848.33*5F

2021-08-15T00:58:48.360Z,1628989128.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.719999 m, bearing: 46.816879 deg, deltaT: 4.467649 s, approachRate: -0.617774 m/s, LOS rate: 0.153775 deg/s, posRepo size: 4
2021-08-15T00:58:48.362Z,1628989128.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.719999 m,
      bearing: 46.816879 deg,
      approachRate: -0.617774 m/s,
      LOS rate: 0.153775 deg/s,
      cmd update: 0.615099 deg/s,
      cmd heading: 51.947098 deg,
      new cmd heading: 52.644161 deg.

2021-08-15T00:58:50.830Z,1628989130.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:58:51.125Z,1628989131.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:58:51.125Z,1628989131.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:58:51.125Z,1628989131.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:58:51.126Z,1628989131.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:58:51.525Z,1628989131.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,00345,184,80,80,A6,FF
2021-08-15T00:58:51.525Z,1628989131.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:58:51.525Z,1628989131.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:58:51.527Z,1628989131.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:58:51.944Z,1628989131.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:58:52.345Z,1628989132.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,0032B,186,80,80,B2,FF
2021-08-15T00:58:52.345Z,1628989132.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:58:52.366Z,1628989132.366 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:58:52.777Z,1628989132.777 [Micromodem](INFO): Nmea in: $SNTTA,0.022326,,,,005852.77*4D

2021-08-15T00:58:52.826Z,1628989132.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.159998 m, bearing: 46.566246 deg, deltaT: 4.400387 s, approachRate: -0.354515 m/s, LOS rate: -0.056957 deg/s, posRepo size: 4
2021-08-15T00:58:52.828Z,1628989132.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 46.566246 deg,
      approachRate: -0.354515 m/s,
      LOS rate: -0.056957 deg/s,
      cmd update: -0.227829 deg/s,
      cmd heading: 54.653733 deg,
      new cmd heading: 54.938008 deg.

2021-08-15T00:58:55.206Z,1628989135.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:58:55.569Z,1628989135.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:58:55.569Z,1628989135.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:58:55.570Z,1628989135.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:58:55.570Z,1628989135.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:58:55.969Z,1628989135.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,0032B,186,80,80,B2,FF
2021-08-15T00:58:55.969Z,1628989135.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:58:55.969Z,1628989135.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:58:55.971Z,1628989135.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:58:56.377Z,1628989136.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:58:56.785Z,1628989136.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AC,000,002F7,186,80,80,A9,FF
2021-08-15T00:58:56.786Z,1628989136.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:58:56.826Z,1628989136.826 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:58:57.233Z,1628989137.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005857.22*51

2021-08-15T00:58:57.259Z,1628989137.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.040000 m, bearing: 50.302950 deg, deltaT: 4.460486 s, approachRate: -0.699475 m/s, LOS rate: 0.837735 deg/s, posRepo size: 4
2021-08-15T00:58:57.281Z,1628989137.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.040000 m,
      bearing: 50.302950 deg,
      approachRate: -0.699475 m/s,
      LOS rate: 0.837735 deg/s,
      cmd update: 3.350939 deg/s,
      cmd heading: 53.637527 deg,
      new cmd heading: 53.538284 deg.

2021-08-15T00:58:59.651Z,1628989139.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:00.009Z,1628989140.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:59:00.009Z,1628989140.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:59:00.009Z,1628989140.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:59:00.010Z,1628989140.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:59:00.417Z,1628989140.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AC,000,002F7,186,80,80,A9,FF
2021-08-15T00:59:00.418Z,1628989140.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:59:00.418Z,1628989140.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:59:00.420Z,1628989140.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:59:00.825Z,1628989140.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:59:01.218Z,1628989141.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D1,000,002D4,187,80,80,A8,FF
2021-08-15T00:59:01.219Z,1628989141.219 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:59:01.265Z,1628989141.265 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:59:01.661Z,1628989141.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005901.66*53

2021-08-15T00:59:01.697Z,1628989141.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.940001 m, bearing: 48.909123 deg, deltaT: 4.438543 s, approachRate: -0.473128 m/s, LOS rate: -0.314028 deg/s, posRepo size: 4
2021-08-15T00:59:01.699Z,1628989141.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 48.909123 deg,
      approachRate: -0.473128 m/s,
      LOS rate: -0.314028 deg/s,
      cmd update: -1.256112 deg/s,
      cmd heading: 68.497782 deg,
      new cmd heading: 69.969293 deg.

2021-08-15T00:59:04.078Z,1628989144.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:04.461Z,1628989144.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:59:04.461Z,1628989144.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:59:04.462Z,1628989144.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:59:04.463Z,1628989144.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:59:04.874Z,1628989144.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D1,000,002D4,187,80,80,A8,FF
2021-08-15T00:59:04.874Z,1628989144.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:59:04.875Z,1628989144.875 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:59:04.895Z,1628989144.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:59:05.277Z,1628989145.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:59:05.665Z,1628989145.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,002C7,186,80,80,7D,FF
2021-08-15T00:59:05.665Z,1628989145.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:59:05.718Z,1628989145.718 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:59:06.101Z,1628989146.101 [Micromodem](INFO): Nmea in: $SNTTA,0.186013,,,,005906.14*42

2021-08-15T00:59:06.127Z,1628989146.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.160000 m, bearing: 61.487002 deg, deltaT: 4.453522 s, approachRate: -0.175142 m/s, LOS rate: 2.824254 deg/s, posRepo size: 4
2021-08-15T00:59:06.129Z,1628989146.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 61.487002 deg,
      approachRate: -0.175142 m/s,
      LOS rate: 2.824254 deg/s,
      cmd update: 11.297018 deg/s,
      cmd heading: 62.903682 deg,
      new cmd heading: 62.381460 deg.

2021-08-15T00:59:08.515Z,1628989148.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:08.925Z,1628989148.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:59:08.925Z,1628989148.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:59:08.925Z,1628989148.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:59:08.926Z,1628989148.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:59:09.309Z,1628989149.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,002C7,186,80,80,7D,FF
2021-08-15T00:59:09.309Z,1628989149.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:59:09.309Z,1628989149.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:59:09.311Z,1628989149.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:59:09.714Z,1628989149.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:59:10.542Z,1628989150.542 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005910.56*50

2021-08-15T00:59:11.355Z,1628989151.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:12.945Z,1628989152.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,7D,FF
2021-08-15T00:59:12.945Z,1628989152.945 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,7D,FF
2021-08-15T00:59:12.945Z,1628989152.945 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:59:14.196Z,1628989154.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:14.553Z,1628989154.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:59:14.553Z,1628989154.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:59:14.553Z,1628989154.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:59:14.554Z,1628989154.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:59:14.965Z,1628989154.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,7D,FF
2021-08-15T00:59:14.965Z,1628989154.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:59:14.966Z,1628989154.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:59:14.968Z,1628989154.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:59:15.368Z,1628989155.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:59:15.803Z,1628989155.803 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,00317,186,80,80,81,FF
2021-08-15T00:59:15.803Z,1628989155.803 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:59:15.980Z,1628989155.980 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:59:16.198Z,1628989156.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005916.21*56

2021-08-15T00:59:16.253Z,1628989156.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.960000 m, bearing: 92.137818 deg, deltaT: 10.261374 s, approachRate: 0.467774 m/s, LOS rate: 2.987009 deg/s, posRepo size: 4
2021-08-15T00:59:16.255Z,1628989156.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.960000 m,
      bearing: 92.137818 deg,
      approachRate: 0.467774 m/s,
      LOS rate: 2.987009 deg/s,
      cmd update: 11.948035 deg/s,
      cmd heading: 178.869015 deg,
      new cmd heading: 181.944515 deg.

2021-08-15T00:59:18.619Z,1628989158.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:18.997Z,1628989158.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:59:18.997Z,1628989158.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:59:18.997Z,1628989158.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:59:18.998Z,1628989158.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:59:19.409Z,1628989159.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,00317,186,80,80,81,FF
2021-08-15T00:59:19.409Z,1628989159.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:59:19.410Z,1628989159.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:59:19.411Z,1628989159.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:59:19.820Z,1628989159.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:59:20.214Z,1628989160.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,00331,187,80,80,A0,FF
2021-08-15T00:59:20.214Z,1628989160.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:59:20.289Z,1628989160.289 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:59:20.681Z,1628989160.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005920.65*53

2021-08-15T00:59:20.739Z,1628989160.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 109.689280 deg, deltaT: 4.308884 s, approachRate: 0.362043 m/s, LOS rate: 4.073319 deg/s, posRepo size: 4
2021-08-15T00:59:20.741Z,1628989160.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 109.689280 deg,
      approachRate: 0.362043 m/s,
      LOS rate: 4.073319 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 230.307351 deg,
      new cmd heading: 235.768500 deg.

2021-08-15T00:59:23.106Z,1628989163.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:23.441Z,1628989163.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:59:23.441Z,1628989163.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:59:23.441Z,1628989163.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:59:23.442Z,1628989163.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:59:23.855Z,1628989163.855 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,00331,187,80,80,A0,FF
2021-08-15T00:59:23.857Z,1628989163.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:59:23.858Z,1628989163.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:59:23.884Z,1628989163.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:59:24.277Z,1628989164.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:59:24.696Z,1628989164.696 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,0033F,186,80,80,3B,FF
2021-08-15T00:59:24.696Z,1628989164.696 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:59:24.771Z,1628989164.771 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:59:25.075Z,1628989165.075 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005925.13*57

2021-08-15T00:59:25.120Z,1628989165.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 136.847444 deg, deltaT: 4.481875 s, approachRate: 0.187422 m/s, LOS rate: 6.059554 deg/s, posRepo size: 4
2021-08-15T00:59:25.122Z,1628989165.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 136.847444 deg,
      approachRate: 0.187422 m/s,
      LOS rate: 6.059554 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 284.088856 deg,
      new cmd heading: 288.366017 deg.

2021-08-15T00:59:27.518Z,1628989167.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:27.912Z,1628989167.912 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:59:27.913Z,1628989167.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:59:27.913Z,1628989167.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:59:27.914Z,1628989167.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:59:28.289Z,1628989168.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,0033F,186,80,80,3B,FF
2021-08-15T00:59:28.289Z,1628989168.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:59:28.290Z,1628989168.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:59:28.292Z,1628989168.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:59:28.741Z,1628989168.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:59:29.097Z,1628989169.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,00366,187,80,80,4F,FF
2021-08-15T00:59:29.097Z,1628989169.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:59:29.127Z,1628989169.127 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:59:29.551Z,1628989169.551 [Micromodem](INFO): Nmea in: $SNTTA,0.008851,,,,005929.53*45

2021-08-15T00:59:29.572Z,1628989169.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.700000 m, bearing: 130.460780 deg, deltaT: 4.381036 s, approachRate: 0.534120 m/s, LOS rate: -1.457798 deg/s, posRepo size: 4
2021-08-15T00:59:29.574Z,1628989169.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.700000 m,
      bearing: 130.460780 deg,
      approachRate: 0.534120 m/s,
      LOS rate: -1.457798 deg/s,
      cmd update: -5.831191 deg/s,
      cmd heading: 336.419010 deg,
      new cmd heading: 341.790426 deg.

2021-08-15T00:59:31.981Z,1628989171.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:32.330Z,1628989172.330 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:59:32.331Z,1628989172.331 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:59:32.331Z,1628989172.331 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:59:32.332Z,1628989172.332 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:59:32.753Z,1628989172.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,00366,187,80,80,4F,FF
2021-08-15T00:59:32.753Z,1628989172.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:59:32.753Z,1628989172.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:59:32.755Z,1628989172.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:59:33.144Z,1628989173.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:59:33.545Z,1628989173.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,00370,184,80,80,32,FF
2021-08-15T00:59:33.546Z,1628989173.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:59:33.570Z,1628989173.570 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:59:33.977Z,1628989173.977 [Micromodem](INFO): Nmea in: $SNTTA,0.030382,,,,005934.00*41

2021-08-15T00:59:34.019Z,1628989174.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.299999 m, bearing: 138.056223 deg, deltaT: 4.418751 s, approachRate: 0.135785 m/s, LOS rate: 1.718912 deg/s, posRepo size: 4
2021-08-15T00:59:34.021Z,1628989174.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.299999 m,
      bearing: 138.056223 deg,
      approachRate: 0.135785 m/s,
      LOS rate: 1.718912 deg/s,
      cmd update: 6.875647 deg/s,
      cmd heading: 310.510820 deg,
      new cmd heading: 307.876795 deg.

2021-08-15T00:59:36.387Z,1628989176.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:36.781Z,1628989176.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:59:36.781Z,1628989176.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:59:36.781Z,1628989176.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:59:36.782Z,1628989176.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:59:37.188Z,1628989177.188 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,00370,184,80,80,32,FF
2021-08-15T00:59:37.188Z,1628989177.188 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:59:37.189Z,1628989177.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:59:37.191Z,1628989177.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:59:37.597Z,1628989177.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:59:38.426Z,1628989178.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005938.44*59

2021-08-15T00:59:38.902Z,1628989178.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:39.218Z,1628989179.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,03682,186,80,80,48,FF
2021-08-15T00:59:39.219Z,1628989179.219 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:59:39.274Z,1628989179.274 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:59:39.632Z,1628989179.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 799.740051 m, bearing: 149.786554 deg, deltaT: 5.703829 s, approachRate: 137.528671 m/s, LOS rate: 2.056571 deg/s, posRepo size: 4
2021-08-15T00:59:39.634Z,1628989179.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 799.740051 m,
      bearing: 149.786554 deg,
      approachRate: 137.528671 m/s,
      LOS rate: 2.056571 deg/s,
      cmd update: 8.226285 deg/s,
      cmd heading: 349.728276 deg,
      new cmd heading: 352.206603 deg.

2021-08-15T00:59:40.052Z,1628989180.052 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T00:59:40.052Z,1628989180.052 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:59:40.052Z,1628989180.052 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T00:59:40.053Z,1628989180.053 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T00:59:40.053Z,1628989180.053 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T00:59:40.053Z,1628989180.053 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T00:59:40.457Z,1628989180.457 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T00:59:40.458Z,1628989180.458 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:59:40.458Z,1628989180.458 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T00:59:40.458Z,1628989180.458 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T00:59:42.047Z,1628989182.047 [PowerOnly](INFO): Powering down loadControl
2021-08-15T00:59:42.086Z,1628989182.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:42.441Z,1628989182.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:59:42.442Z,1628989182.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:59:42.442Z,1628989182.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:59:42.443Z,1628989182.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:59:42.845Z,1628989182.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,03682,186,80,80,48,FF
2021-08-15T00:59:42.845Z,1628989182.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:59:42.845Z,1628989182.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:59:42.847Z,1628989182.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:59:43.262Z,1628989183.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:59:43.641Z,1628989183.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,00253,186,80,80,6D,FF
2021-08-15T00:59:43.641Z,1628989183.641 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-15T00:59:44.090Z,1628989184.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005944.09*5B

2021-08-15T00:59:44.953Z,1628989184.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:45.048Z,1628989185.048 [RudderServo](FAULT): Invalid EZ Servo response:"7"
2021-08-15T00:59:45.048Z,1628989185.048 [RudderServo] Communications Fault, FailCount= 1
2021-08-15T00:59:45.048Z,1628989185.048 [RudderServo](ERROR): Communications Fault
2021-08-15T00:59:45.049Z,1628989185.049 [RudderServo](ERROR): Rudder reporting null position
2021-08-15T00:59:45.080Z,1628989185.080 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-08-15T00:59:45.308Z,1628989185.308 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-08-15T00:59:45.308Z,1628989185.308 [RudderServo](INFO): Powering down
2021-08-15T00:59:46.153Z,1628989186.153 [RudderServo](DEBUG): Initializing EZServoServo.
2021-08-15T00:59:46.273Z,1628989186.273 [RudderServo](DEBUG): Initializing RudderServo.
2021-08-15T00:59:46.304Z,1628989186.304 [CBIT](INFO): Clearing failed state for component RudderServo
2021-08-15T00:59:46.304Z,1628989186.304 [RudderServo] No Fault, FailCount= 1
2021-08-15T00:59:47.706Z,1628989187.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:48.085Z,1628989188.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:59:48.085Z,1628989188.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:59:48.086Z,1628989188.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:59:48.086Z,1628989188.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:59:48.493Z,1628989188.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,00253,186,80,80,6D,FF
2021-08-15T00:59:48.493Z,1628989188.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:59:48.493Z,1628989188.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:59:48.495Z,1628989188.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:59:48.933Z,1628989188.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:59:49.301Z,1628989189.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4F,000,003DE,189,80,80,9C,FF
2021-08-15T00:59:49.301Z,1628989189.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:59:49.751Z,1628989189.751 [Micromodem](INFO): Nmea in: $SNTTA,0.035805,,,,005949.74*49

2021-08-15T00:59:49.772Z,1628989189.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 157.099706 deg, deltaT: 10.046455 s, approachRate: -77.424332 m/s, LOS rate: 0.727934 deg/s, posRepo size: 4
2021-08-15T00:59:49.774Z,1628989189.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.900000 m,
      bearing: 157.099706 deg,
      approachRate: -77.424332 m/s,
      LOS rate: 0.727934 deg/s,
      cmd update: 2.911734 deg/s,
      cmd heading: 72.375803 deg,
      new cmd heading: 76.109105 deg.

2021-08-15T00:59:50.149Z,1628989190.149 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T00:59:50.149Z,1628989190.149 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:59:50.149Z,1628989190.149 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T00:59:50.149Z,1628989190.149 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T00:59:50.150Z,1628989190.150 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T00:59:50.150Z,1628989190.150 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T00:59:50.564Z,1628989190.564 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T00:59:50.565Z,1628989190.565 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:59:50.565Z,1628989190.565 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T00:59:50.565Z,1628989190.565 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T00:59:52.182Z,1628989192.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:52.533Z,1628989192.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:59:52.533Z,1628989192.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:59:52.534Z,1628989192.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:59:52.534Z,1628989192.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:59:52.941Z,1628989192.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4F,000,003DE,189,80,80,9C,FF
2021-08-15T00:59:52.941Z,1628989192.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:59:52.942Z,1628989192.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:59:52.945Z,1628989192.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:59:53.344Z,1628989193.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:59:54.178Z,1628989194.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005954.19*5B

2021-08-15T00:59:55.014Z,1628989195.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:56.581Z,1628989196.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,189,80,80,9C,FF
2021-08-15T00:59:56.581Z,1628989196.581 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,189,80,80,9C,FF
2021-08-15T00:59:56.581Z,1628989196.581 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T00:59:57.814Z,1628989197.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T00:59:58.181Z,1628989198.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T00:59:58.181Z,1628989198.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T00:59:58.181Z,1628989198.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T00:59:58.182Z,1628989198.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T00:59:58.586Z,1628989198.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,189,80,80,9C,FF
2021-08-15T00:59:58.586Z,1628989198.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T00:59:58.586Z,1628989198.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T00:59:58.588Z,1628989198.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T00:59:59.001Z,1628989199.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T00:59:59.402Z,1628989199.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,00438,186,80,80,8E,FF
2021-08-15T00:59:59.402Z,1628989199.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T00:59:59.422Z,1628989199.422 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T00:59:59.839Z,1628989199.839 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005959.83*55

2021-08-15T00:59:59.916Z,1628989199.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.300001 m, bearing: 100.279430 deg, deltaT: 10.101618 s, approachRate: 0.534568 m/s, LOS rate: -5.624869 deg/s, posRepo size: 4
2021-08-15T00:59:59.918Z,1628989199.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.300001 m,
      bearing: 100.279430 deg,
      approachRate: 0.534568 m/s,
      LOS rate: -5.624869 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 101.787789 deg,
      new cmd heading: 103.233308 deg.

2021-08-15T01:00:01.924Z,1628989201.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:00:02.229Z,1628989202.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:00:02.229Z,1628989202.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:00:02.229Z,1628989202.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:00:02.230Z,1628989202.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:00:02.632Z,1628989202.632 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,00438,186,80,80,8E,FF
2021-08-15T01:00:02.633Z,1628989202.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:00:02.633Z,1628989202.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:00:02.640Z,1628989202.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:00:03.036Z,1628989203.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:00:03.445Z,1628989203.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,0045D,186,80,80,64,FF
2021-08-15T01:00:03.445Z,1628989203.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:00:03.501Z,1628989203.501 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:00:03.905Z,1628989203.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010003.88*5C

2021-08-15T01:00:03.946Z,1628989203.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.519999 m, bearing: 118.420768 deg, deltaT: 4.078849 s, approachRate: 0.544271 m/s, LOS rate: 4.447661 deg/s, posRepo size: 4
2021-08-15T01:00:03.948Z,1628989203.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.519999 m,
      bearing: 118.420768 deg,
      approachRate: 0.544271 m/s,
      LOS rate: 4.447661 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 52.978351 deg,
      new cmd heading: 47.466367 deg.

2021-08-15T01:00:06.294Z,1628989206.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:00:06.705Z,1628989206.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:00:06.705Z,1628989206.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:00:06.705Z,1628989206.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:00:06.706Z,1628989206.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:00:07.081Z,1628989207.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,0045D,186,80,80,64,FF
2021-08-15T01:00:07.081Z,1628989207.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:00:07.081Z,1628989207.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:00:07.083Z,1628989207.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:00:07.500Z,1628989207.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:00:07.912Z,1628989207.912 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,00487,186,80,80,6A,FF
2021-08-15T01:00:07.913Z,1628989207.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:00:07.942Z,1628989207.942 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:00:08.330Z,1628989208.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010008.33*57

2021-08-15T01:00:08.352Z,1628989208.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.040001 m, bearing: 111.578134 deg, deltaT: 4.441237 s, approachRate: 0.567410 m/s, LOS rate: -1.540704 deg/s, posRepo size: 4
2021-08-15T01:00:08.354Z,1628989208.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.040001 m,
      bearing: 111.578134 deg,
      approachRate: 0.567410 m/s,
      LOS rate: -1.540704 deg/s,
      cmd update: -6.162818 deg/s,
      cmd heading: 106.411209 deg,
      new cmd heading: 111.360549 deg.

2021-08-15T01:00:10.767Z,1628989210.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:00:11.113Z,1628989211.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:00:11.113Z,1628989211.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:00:11.113Z,1628989211.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:00:11.114Z,1628989211.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:00:11.517Z,1628989211.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,00487,186,80,80,6A,FF
2021-08-15T01:00:11.517Z,1628989211.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:00:11.517Z,1628989211.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:00:11.519Z,1628989211.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:00:11.944Z,1628989211.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:00:12.325Z,1628989212.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,004AC,187,80,80,58,FF
2021-08-15T01:00:12.325Z,1628989212.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:00:12.345Z,1628989212.345 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:00:12.777Z,1628989212.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010012.76*5D

2021-08-15T01:00:12.841Z,1628989212.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.259998 m, bearing: 89.732000 deg, deltaT: 4.402926 s, approachRate: 0.504210 m/s, LOS rate: -4.961731 deg/s, posRepo size: 4
2021-08-15T01:00:12.842Z,1628989212.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 34.26 m. Rolling out.
2021-08-15T01:00:12.842Z,1628989212.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T01:00:15.201Z,1628989215.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:00:15.569Z,1628989215.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:00:15.569Z,1628989215.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:00:15.569Z,1628989215.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:00:15.570Z,1628989215.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:00:15.965Z,1628989215.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,004AC,187,80,80,58,FF
2021-08-15T01:00:15.965Z,1628989215.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:00:15.965Z,1628989215.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:00:15.967Z,1628989215.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:00:16.383Z,1628989216.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:00:17.203Z,1628989217.203 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010017.21*5A

2021-08-15T01:00:17.471Z,1628989217.471 [CTD_Seabird](ERROR): Failed to parse device response: 5.32,24.369.16
2021-08-15T01:00:18.025Z,1628989218.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:00:19.601Z,1628989219.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,58,FF
2021-08-15T01:00:19.601Z,1628989219.601 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,58,FF
2021-08-15T01:00:19.601Z,1628989219.601 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:00:20.907Z,1628989220.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:00:21.229Z,1628989221.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:00:21.229Z,1628989221.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:00:21.229Z,1628989221.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:00:21.230Z,1628989221.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:00:21.617Z,1628989221.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,58,FF
2021-08-15T01:00:21.617Z,1628989221.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:00:21.617Z,1628989221.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:00:21.619Z,1628989221.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:00:22.034Z,1628989222.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:00:22.429Z,1628989222.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,00ACC,186,80,80,46,FF
2021-08-15T01:00:22.429Z,1628989222.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:00:22.474Z,1628989222.474 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:00:22.886Z,1628989222.886 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010022.86*51

2021-08-15T01:00:22.953Z,1628989222.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.339996 m, bearing: 100.810437 deg, deltaT: 10.128754 s, approachRate: 9.288408 m/s, LOS rate: 1.093761 deg/s, posRepo size: 4
2021-08-15T01:00:23.281Z,1628989223.281 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T01:00:23.281Z,1628989223.281 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:00:23.282Z,1628989223.282 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T01:00:23.282Z,1628989223.282 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T01:00:23.282Z,1628989223.282 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T01:00:23.282Z,1628989223.282 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T01:00:23.680Z,1628989223.680 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T01:00:23.681Z,1628989223.681 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:00:23.681Z,1628989223.681 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T01:00:23.681Z,1628989223.681 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:00:25.279Z,1628989225.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:00:25.657Z,1628989225.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:00:25.657Z,1628989225.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:00:25.657Z,1628989225.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:00:25.658Z,1628989225.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:00:26.070Z,1628989226.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,00ACC,186,80,80,46,FF
2021-08-15T01:00:26.070Z,1628989226.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:00:26.070Z,1628989226.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:00:26.071Z,1628989226.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:00:26.476Z,1628989226.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:00:27.306Z,1628989227.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010027.32*5B

2021-08-15T01:00:28.123Z,1628989228.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:00:28.497Z,1628989228.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,05859,186,80,80,8F,FF
2021-08-15T01:00:28.497Z,1628989228.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:00:28.976Z,1628989228.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1319.520020 m, bearing: 96.171365 deg, deltaT: 6.071197 s, approachRate: 196.201843 m/s, LOS rate: -0.764111 deg/s, posRepo size: 4
2021-08-15T01:00:31.346Z,1628989231.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:00:31.725Z,1628989231.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:00:31.725Z,1628989231.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:00:31.725Z,1628989231.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:00:31.726Z,1628989231.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:00:32.149Z,1628989232.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,05859,186,80,80,8F,FF
2021-08-15T01:00:32.149Z,1628989232.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:00:32.149Z,1628989232.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:00:32.151Z,1628989232.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:00:32.559Z,1628989232.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:00:32.949Z,1628989232.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,00561,186,80,80,75,FF
2021-08-15T01:00:32.949Z,1628989232.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:00:33.358Z,1628989233.358 [Micromodem](INFO): Nmea in: $SNTTA,0.191903,,,,010033.40*46

2021-08-15T01:00:33.373Z,1628989233.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.119999 m, bearing: 100.543663 deg, deltaT: 4.559817 s, approachRate: -279.484894 m/s, LOS rate: 0.958876 deg/s, posRepo size: 4
2021-08-15T01:00:35.798Z,1628989235.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:00:36.165Z,1628989236.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:00:36.165Z,1628989236.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:00:36.165Z,1628989236.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:00:36.166Z,1628989236.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:00:36.573Z,1628989236.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,00561,186,80,80,75,FF
2021-08-15T01:00:36.573Z,1628989236.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:00:36.573Z,1628989236.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:00:36.575Z,1628989236.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:00:36.977Z,1628989236.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:00:37.378Z,1628989237.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE8,000,0030E,188,80,80,3B,FF
2021-08-15T01:00:37.378Z,1628989237.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:00:37.821Z,1628989237.821 [Micromodem](INFO): Nmea in: $SNTTA,0.011687,,,,010037.82*46

2021-08-15T01:00:37.900Z,1628989237.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.419999 m, bearing: 109.956347 deg, deltaT: 4.297173 s, approachRate: -8.307788 m/s, LOS rate: 2.190436 deg/s, posRepo size: 4
2021-08-15T01:00:38.239Z,1628989238.239 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T01:00:38.239Z,1628989238.239 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:00:38.240Z,1628989238.240 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T01:00:38.240Z,1628989238.240 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T01:00:38.241Z,1628989238.241 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T01:00:38.241Z,1628989238.241 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T01:00:38.658Z,1628989238.658 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T01:00:38.658Z,1628989238.658 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:00:38.659Z,1628989238.659 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T01:00:38.659Z,1628989238.659 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:00:40.255Z,1628989240.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:00:40.613Z,1628989240.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:00:40.613Z,1628989240.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:00:40.613Z,1628989240.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:00:40.614Z,1628989240.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:00:41.017Z,1628989241.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE8,000,0030E,188,80,80,3B,FF
2021-08-15T01:00:41.017Z,1628989241.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:00:41.017Z,1628989241.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:00:41.019Z,1628989241.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:00:41.424Z,1628989241.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:00:41.821Z,1628989241.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,005B6,186,80,80,80,FF
2021-08-15T01:00:41.822Z,1628989241.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:00:41.883Z,1628989241.883 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:00:42.266Z,1628989242.266 [Micromodem](INFO): Nmea in: $SNTTA,0.040426,,,,010042.26*47

2021-08-15T01:00:42.292Z,1628989242.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.219994 m, bearing: 97.393197 deg, deltaT: 4.493459 s, approachRate: 9.079864 m/s, LOS rate: -2.795875 deg/s, posRepo size: 4
2021-08-15T01:00:42.705Z,1628989242.705 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T01:00:42.706Z,1628989242.706 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:00:42.706Z,1628989242.706 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T01:00:42.706Z,1628989242.706 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T01:00:42.706Z,1628989242.706 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T01:00:42.707Z,1628989242.707 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T01:00:43.117Z,1628989243.117 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T01:00:43.117Z,1628989243.117 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:00:43.117Z,1628989243.117 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T01:00:43.117Z,1628989243.117 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:00:44.735Z,1628989244.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:00:45.057Z,1628989245.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:00:45.057Z,1628989245.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:00:45.057Z,1628989245.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:00:45.058Z,1628989245.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:00:45.457Z,1628989245.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,005B6,186,80,80,80,FF
2021-08-15T01:00:45.457Z,1628989245.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:00:45.457Z,1628989245.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:00:45.459Z,1628989245.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:00:45.897Z,1628989245.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:00:46.265Z,1628989246.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,005DC,186,80,80,7F,FF
2021-08-15T01:00:46.266Z,1628989246.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:00:46.729Z,1628989246.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010046.70*5A

2021-08-15T01:00:46.796Z,1628989246.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.499996 m, bearing: 105.413390 deg, deltaT: 4.418442 s, approachRate: 0.516020 m/s, LOS rate: 1.815163 deg/s, posRepo size: 4
2021-08-15T01:00:49.137Z,1628989249.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:00:49.497Z,1628989249.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:00:49.497Z,1628989249.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:00:49.497Z,1628989249.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:00:49.498Z,1628989249.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:00:49.933Z,1628989249.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,005DC,186,80,80,7F,FF
2021-08-15T01:00:49.933Z,1628989249.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:00:49.933Z,1628989249.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:00:49.935Z,1628989249.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:00:50.313Z,1628989250.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:00:50.737Z,1628989250.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,00606,185,80,80,83,FF
2021-08-15T01:00:50.738Z,1628989250.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:00:51.145Z,1628989251.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010051.18*52

2021-08-15T01:00:51.182Z,1628989251.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.019997 m, bearing: 104.451863 deg, deltaT: 4.498507 s, approachRate: 0.560186 m/s, LOS rate: -0.213744 deg/s, posRepo size: 4
2021-08-15T01:00:53.583Z,1628989253.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:00:53.941Z,1628989253.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:00:53.941Z,1628989253.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:00:53.941Z,1628989253.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:00:53.942Z,1628989253.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:00:54.349Z,1628989254.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,00606,185,80,80,83,FF
2021-08-15T01:00:54.349Z,1628989254.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:00:54.349Z,1628989254.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:00:54.351Z,1628989254.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:00:54.760Z,1628989254.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:00:55.164Z,1628989255.164 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00632,186,80,80,87,FF
2021-08-15T01:00:55.165Z,1628989255.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:00:55.601Z,1628989255.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010055.60*59

2021-08-15T01:00:55.624Z,1628989255.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.660007 m, bearing: 106.962934 deg, deltaT: 4.385552 s, approachRate: 0.601979 m/s, LOS rate: 0.572578 deg/s, posRepo size: 4
2021-08-15T01:00:58.013Z,1628989258.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:00:58.393Z,1628989258.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:00:58.393Z,1628989258.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:00:58.393Z,1628989258.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:00:58.394Z,1628989258.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:00:58.797Z,1628989258.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00632,186,80,80,87,FF
2021-08-15T01:00:58.797Z,1628989258.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:00:58.797Z,1628989258.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:00:58.799Z,1628989258.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:00:59.203Z,1628989259.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:00:59.605Z,1628989259.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,0065A,186,80,80,7B,FF
2021-08-15T01:00:59.606Z,1628989259.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:01:00.047Z,1628989260.047 [Micromodem](INFO): Nmea in: $SNTTA,0.047457,,,,010100.04*41

2021-08-15T01:01:00.100Z,1628989260.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.060001 m, bearing: 105.654885 deg, deltaT: 4.519691 s, approachRate: 0.531008 m/s, LOS rate: -0.289411 deg/s, posRepo size: 4
2021-08-15T01:01:02.443Z,1628989262.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:01:02.849Z,1628989262.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:01:02.849Z,1628989262.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:01:02.850Z,1628989262.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:01:02.851Z,1628989262.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:01:03.241Z,1628989263.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,0065A,186,80,80,7B,FF
2021-08-15T01:01:03.241Z,1628989263.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:01:03.242Z,1628989263.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:01:03.248Z,1628989263.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:01:03.659Z,1628989263.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:01:04.044Z,1628989264.044 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,0068A,186,80,80,59,FF
2021-08-15T01:01:04.046Z,1628989264.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:01:04.489Z,1628989264.489 [Micromodem](INFO): Nmea in: $SNTTA,0.058172,,,,010104.49*40

2021-08-15T01:01:04.511Z,1628989264.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.940002 m, bearing: 99.041342 deg, deltaT: 4.399071 s, approachRate: 0.654684 m/s, LOS rate: -1.503395 deg/s, posRepo size: 4
2021-08-15T01:01:06.951Z,1628989266.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:01:07.281Z,1628989267.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:01:07.281Z,1628989267.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:01:07.281Z,1628989267.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:01:07.282Z,1628989267.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:01:07.693Z,1628989267.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,0068A,186,80,80,59,FF
2021-08-15T01:01:07.693Z,1628989267.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:01:07.694Z,1628989267.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:01:07.695Z,1628989267.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:01:08.101Z,1628989268.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:01:08.506Z,1628989268.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,006B1,187,80,80,71,FF
2021-08-15T01:01:08.507Z,1628989268.507 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:01:08.941Z,1628989268.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010108.94*5B

2021-08-15T01:01:09.005Z,1628989269.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.280006 m, bearing: 107.239578 deg, deltaT: 4.413331 s, approachRate: 0.530213 m/s, LOS rate: 1.857607 deg/s, posRepo size: 4
2021-08-15T01:01:11.342Z,1628989271.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:01:11.726Z,1628989271.726 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:01:11.726Z,1628989271.726 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:01:11.726Z,1628989271.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:01:11.727Z,1628989271.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:01:12.128Z,1628989272.128 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,006B1,187,80,80,71,FF
2021-08-15T01:01:12.128Z,1628989272.128 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:01:12.128Z,1628989272.128 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:01:12.130Z,1628989272.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:01:12.526Z,1628989272.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:01:12.937Z,1628989272.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FA,000,006E2,189,80,80,5C,FF
2021-08-15T01:01:12.938Z,1628989272.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:01:13.382Z,1628989273.382 [Micromodem](INFO): Nmea in: $SNTTA,0.286343,,,,010113.37*4E

2021-08-15T01:01:13.403Z,1628989273.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.219994 m, bearing: 45.147759 deg, deltaT: 4.508556 s, approachRate: 0.652091 m/s, LOS rate: -13.771996 deg/s, posRepo size: 4
2021-08-15T01:01:15.812Z,1628989275.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:01:16.161Z,1628989276.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:01:16.161Z,1628989276.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:01:16.161Z,1628989276.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:01:16.162Z,1628989276.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:01:16.576Z,1628989276.576 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FA,000,006E2,189,80,80,5C,FF
2021-08-15T01:01:16.576Z,1628989276.576 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:01:16.576Z,1628989276.576 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:01:16.579Z,1628989276.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:01:16.981Z,1628989276.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:01:17.388Z,1628989277.388 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,0070C,186,80,80,80,FF
2021-08-15T01:01:17.389Z,1628989277.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:01:17.825Z,1628989277.825 [Micromodem](INFO): Nmea in: $SNTTA,0.076720,,,,010117.83*49

2021-08-15T01:01:17.904Z,1628989277.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.739998 m, bearing: 105.873062 deg, deltaT: 4.382206 s, approachRate: 0.575054 m/s, LOS rate: 13.857244 deg/s, posRepo size: 4
2021-08-15T01:01:20.257Z,1628989280.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:01:20.613Z,1628989280.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:01:20.614Z,1628989280.614 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:01:20.614Z,1628989280.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:01:20.615Z,1628989280.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:01:21.013Z,1628989281.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,0070C,186,80,80,80,FF
2021-08-15T01:01:21.013Z,1628989281.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:01:21.013Z,1628989281.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:01:21.015Z,1628989281.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:01:21.421Z,1628989281.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:01:21.833Z,1628989281.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,00733,187,80,80,69,FF
2021-08-15T01:01:21.833Z,1628989281.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:01:22.274Z,1628989282.274 [Micromodem](INFO): Nmea in: $SNTTA,0.259397,,,,010122.26*47

2021-08-15T01:01:22.320Z,1628989282.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.080002 m, bearing: 107.750544 deg, deltaT: 4.452545 s, approachRate: 0.525543 m/s, LOS rate: 0.421665 deg/s, posRepo size: 4
2021-08-15T01:01:24.736Z,1628989284.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:01:25.064Z,1628989285.064 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:01:25.064Z,1628989285.064 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:01:25.064Z,1628989285.064 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:01:25.065Z,1628989285.065 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:01:25.453Z,1628989285.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,00733,187,80,80,69,FF
2021-08-15T01:01:25.453Z,1628989285.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:01:25.453Z,1628989285.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:01:25.455Z,1628989285.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:01:25.895Z,1628989285.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:01:26.274Z,1628989286.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DE,000,00767,18A,80,80,61,FF
2021-08-15T01:01:26.275Z,1628989286.275 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:01:26.725Z,1628989286.725 [Micromodem](INFO): Nmea in: $SNTTA,0.050209,,,,010126.70*4D

2021-08-15T01:01:26.778Z,1628989286.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.200005 m, bearing: 45.248046 deg, deltaT: 4.420197 s, approachRate: 0.705851 m/s, LOS rate: -14.140207 deg/s, posRepo size: 4
2021-08-15T01:01:28.828Z,1628989288.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:01:29.097Z,1628989289.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:01:29.097Z,1628989289.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:01:29.097Z,1628989289.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:01:29.098Z,1628989289.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:01:29.497Z,1628989289.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DE,000,00767,18A,80,80,61,FF
2021-08-15T01:01:29.497Z,1628989289.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:01:29.497Z,1628989289.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:01:29.499Z,1628989289.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:01:29.940Z,1628989289.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:01:30.305Z,1628989290.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,0078B,186,80,80,78,FF
2021-08-15T01:01:30.306Z,1628989290.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:01:30.749Z,1628989290.749 [Micromodem](INFO): Nmea in: $SNTTA,0.082699,,,,010130.74*4C

2021-08-15T01:01:30.800Z,1628989290.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.360001 m, bearing: 105.599335 deg, deltaT: 4.031550 s, approachRate: 0.535773 m/s, LOS rate: 14.969750 deg/s, posRepo size: 4
2021-08-15T01:01:33.174Z,1628989293.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:01:33.533Z,1628989293.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:01:33.533Z,1628989293.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:01:33.533Z,1628989293.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:01:33.534Z,1628989293.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:01:33.946Z,1628989293.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,0078B,186,80,80,78,FF
2021-08-15T01:01:33.946Z,1628989293.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:01:33.946Z,1628989293.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:01:33.947Z,1628989293.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:01:34.344Z,1628989294.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:01:34.765Z,1628989294.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D3,000,007B5,189,80,80,6C,FF
2021-08-15T01:01:34.766Z,1628989294.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:01:34.769Z,1628989294.769 [Micromodem](INFO): Nmea in: $SNTTA,0.058486,0.292569,,,010135.20*5E

2021-08-15T01:01:35.193Z,1628989295.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.880005 m, bearing: 46.420349 deg, deltaT: 4.583922 s, approachRate: 0.549748 m/s, LOS rate: -12.910120 deg/s, posRepo size: 4
2021-08-15T01:01:37.591Z,1628989297.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:01:37.977Z,1628989297.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:01:37.977Z,1628989297.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:01:37.977Z,1628989297.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:01:37.978Z,1628989297.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:01:38.385Z,1628989298.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D3,000,007B5,189,80,80,6C,FF
2021-08-15T01:01:38.385Z,1628989298.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:01:38.385Z,1628989298.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:01:38.387Z,1628989298.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:01:38.792Z,1628989298.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:01:39.190Z,1628989299.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FA,000,007E6,189,80,80,76,FF
2021-08-15T01:01:39.191Z,1628989299.191 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:01:39.633Z,1628989299.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010139.64*56

2021-08-15T01:01:39.667Z,1628989299.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.820007 m, bearing: 44.347011 deg, deltaT: 4.357313 s, approachRate: 0.674728 m/s, LOS rate: -0.475830 deg/s, posRepo size: 4
2021-08-15T01:01:42.069Z,1628989302.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:01:42.425Z,1628989302.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:01:42.425Z,1628989302.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:01:42.425Z,1628989302.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:01:42.426Z,1628989302.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:01:42.844Z,1628989302.844 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FA,000,007E6,189,80,80,76,FF
2021-08-15T01:01:42.845Z,1628989302.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:01:42.845Z,1628989302.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:01:42.847Z,1628989302.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:01:43.272Z,1628989303.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:01:43.653Z,1628989303.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,274,000,00816,189,80,80,82,FF
2021-08-15T01:01:43.654Z,1628989303.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:01:44.100Z,1628989304.100 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010144.09*57

2021-08-15T01:01:44.126Z,1628989304.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.700005 m, bearing: 51.460810 deg, deltaT: 4.406438 s, approachRate: 0.653589 m/s, LOS rate: 1.614410 deg/s, posRepo size: 4
2021-08-15T01:01:46.519Z,1628989306.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:01:46.925Z,1628989306.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:01:46.925Z,1628989306.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:01:46.925Z,1628989306.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:01:46.926Z,1628989306.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:01:47.301Z,1628989307.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
274,000,00816,189,80,80,82,FF
2021-08-15T01:01:47.301Z,1628989307.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:01:47.301Z,1628989307.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:01:47.303Z,1628989307.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:01:47.713Z,1628989307.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:01:48.105Z,1628989308.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28E,000,00841,189,80,80,85,FF
2021-08-15T01:01:48.106Z,1628989308.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:01:48.546Z,1628989308.546 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010148.55*52

2021-08-15T01:01:48.562Z,1628989308.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.279999 m, bearing: 50.653503 deg, deltaT: 4.525676 s, approachRate: 0.570079 m/s, LOS rate: -0.178384 deg/s, posRepo size: 4
2021-08-15T01:01:51.024Z,1628989311.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:01:51.337Z,1628989311.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:01:51.337Z,1628989311.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:01:51.337Z,1628989311.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:01:51.338Z,1628989311.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:01:51.746Z,1628989311.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28E,000,00841,189,80,80,85,FF
2021-08-15T01:01:51.746Z,1628989311.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:01:51.746Z,1628989311.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:01:51.748Z,1628989311.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:01:52.170Z,1628989312.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:01:52.982Z,1628989312.982 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010152.99*59

2021-08-15T01:01:53.783Z,1628989313.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:01:55.382Z,1628989315.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,222,000,08A22,188,80,80,9D,FF
2021-08-15T01:01:55.382Z,1628989315.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:01:55.812Z,1628989315.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2084.219971 m, bearing: 55.679774 deg, deltaT: 7.203188 s, approachRate: 276.952362 m/s, LOS rate: 0.697784 deg/s, posRepo size: 4
2021-08-15T01:01:55.812Z,1628989315.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2084.22 m. Resuming terminal guidance.
2021-08-15T01:01:55.813Z,1628989315.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T01:01:58.241Z,1628989318.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:01:58.618Z,1628989318.618 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:01:58.618Z,1628989318.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:01:58.619Z,1628989318.619 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:01:58.620Z,1628989318.620 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:01:59.017Z,1628989319.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
222,000,08A22,188,80,80,9D,FF
2021-08-15T01:01:59.017Z,1628989319.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:01:59.017Z,1628989319.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:01:59.019Z,1628989319.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:01:59.425Z,1628989319.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:01:59.821Z,1628989319.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A6,000,008B5,189,80,80,5C,FF
2021-08-15T01:01:59.822Z,1628989319.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:02:00.269Z,1628989320.269 [Micromodem](INFO): Nmea in: $SNTTA,0.088987,,,,010200.26*41

2021-08-15T01:02:00.299Z,1628989320.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.240005 m, bearing: 49.255353 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T01:02:00.320Z,1628989320.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 49.255353deg and heading rate command to 0 deg/s.
2021-08-15T01:02:02.730Z,1628989322.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:02:03.053Z,1628989323.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:02:03.053Z,1628989323.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:02:03.053Z,1628989323.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:02:03.054Z,1628989323.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:02:03.457Z,1628989323.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A6,000,008B5,189,80,80,5C,FF
2021-08-15T01:02:03.457Z,1628989323.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:02:03.457Z,1628989323.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:02:03.459Z,1628989323.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:02:03.899Z,1628989323.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:02:04.269Z,1628989324.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B0,000,008E6,189,80,80,7D,FF
2021-08-15T01:02:04.270Z,1628989324.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:02:04.733Z,1628989324.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010204.70*5E

2021-08-15T01:02:04.796Z,1628989324.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.180000 m, bearing: 46.734149 deg, deltaT: 4.380944 s, approachRate: 0.671087 m/s, LOS rate: -0.575493 deg/s, posRepo size: 2
2021-08-15T01:02:04.798Z,1628989324.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.180000 m,
      bearing: 46.734149 deg,
      approachRate: 0.671087 m/s,
      LOS rate: -0.575493 deg/s,
      cmd update: -2.301973 deg/s,
      cmd heading: 49.255353 deg,
      new cmd heading: 49.255353 deg.

2021-08-15T01:02:06.796Z,1628989326.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:02:07.093Z,1628989327.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:02:07.093Z,1628989327.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:02:07.093Z,1628989327.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:02:07.094Z,1628989327.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:02:07.505Z,1628989327.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B0,000,008E6,189,80,80,7D,FF
2021-08-15T01:02:07.505Z,1628989327.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:02:07.506Z,1628989327.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:02:07.507Z,1628989327.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:02:07.936Z,1628989327.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:02:08.306Z,1628989328.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,00906,186,80,80,79,FF
2021-08-15T01:02:08.306Z,1628989328.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:02:08.757Z,1628989328.757 [Micromodem](INFO): Nmea in: $SNTTA,0.091810,,,,010208.75*48

2021-08-15T01:02:08.816Z,1628989328.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.099998 m, bearing: 86.178751 deg, deltaT: 4.072784 s, approachRate: 0.471422 m/s, LOS rate: 9.684924 deg/s, posRepo size: 3
2021-08-15T01:02:08.818Z,1628989328.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.099998 m,
      bearing: 86.178751 deg,
      approachRate: 0.471422 m/s,
      LOS rate: 9.684924 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 39.889453 deg,
      new cmd heading: 38.829760 deg.

2021-08-15T01:02:11.174Z,1628989331.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:02:11.537Z,1628989331.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:02:11.537Z,1628989331.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:02:11.537Z,1628989331.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:02:11.538Z,1628989331.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:02:11.941Z,1628989331.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,00906,186,80,80,79,FF
2021-08-15T01:02:11.941Z,1628989331.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:02:11.942Z,1628989331.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:02:11.947Z,1628989331.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:02:12.348Z,1628989332.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:02:13.187Z,1628989333.187 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010213.19*57

2021-08-15T01:02:14.017Z,1628989334.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:02:15.577Z,1628989335.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,79,FF
2021-08-15T01:02:15.578Z,1628989335.578 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,79,FF
2021-08-15T01:02:15.578Z,1628989335.578 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:02:16.853Z,1628989336.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:02:17.233Z,1628989337.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:02:17.233Z,1628989337.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:02:17.233Z,1628989337.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:02:17.234Z,1628989337.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:02:17.607Z,1628989337.607 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,79,FF
2021-08-15T01:02:17.607Z,1628989337.607 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:02:17.607Z,1628989337.607 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:02:17.609Z,1628989337.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:02:18.013Z,1628989338.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:02:18.417Z,1628989338.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,00957,186,80,80,9C,FF
2021-08-15T01:02:18.418Z,1628989338.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:02:18.842Z,1628989338.842 [Micromodem](INFO): Nmea in: $SNTTA,0.093014,,,,010218.86*4B

2021-08-15T01:02:18.934Z,1628989338.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.960007 m, bearing: 75.460299 deg, deltaT: 10.144327 s, approachRate: 0.479086 m/s, LOS rate: -1.056596 deg/s, posRepo size: 4
2021-08-15T01:02:18.936Z,1628989338.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.960007 m,
      bearing: 75.460299 deg,
      approachRate: 0.479086 m/s,
      LOS rate: -1.056596 deg/s,
      cmd update: -4.226383 deg/s,
      cmd heading: 161.672236 deg,
      new cmd heading: 166.835212 deg.

2021-08-15T01:02:21.259Z,1628989341.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:02:21.649Z,1628989341.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:02:21.649Z,1628989341.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:02:21.649Z,1628989341.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:02:21.650Z,1628989341.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:02:22.049Z,1628989342.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,00957,186,80,80,9C,FF
2021-08-15T01:02:22.049Z,1628989342.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:02:22.049Z,1628989342.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:02:22.051Z,1628989342.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:02:22.473Z,1628989342.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:02:22.857Z,1628989342.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C3,000,00982,189,80,80,89,FF
2021-08-15T01:02:22.858Z,1628989342.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:02:22.870Z,1628989342.870 [Micromodem](INFO): Nmea in: $SNTTA,0.241291,0.241403,,,010223.30*52

2021-08-15T01:02:23.292Z,1628989343.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.540001 m, bearing: 44.265268 deg, deltaT: 4.459838 s, approachRate: 0.578495 m/s, LOS rate: -6.994656 deg/s, posRepo size: 4
2021-08-15T01:02:23.294Z,1628989343.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.540001 m,
      bearing: 44.265268 deg,
      approachRate: 0.578495 m/s,
      LOS rate: -6.994656 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 142.823161 deg,
      new cmd heading: 141.437385 deg.

2021-08-15T01:02:25.711Z,1628989345.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:02:26.085Z,1628989346.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:02:26.085Z,1628989346.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:02:26.085Z,1628989346.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:02:26.086Z,1628989346.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:02:26.489Z,1628989346.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C3,000,00982,189,80,80,89,FF
2021-08-15T01:02:26.489Z,1628989346.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:02:26.490Z,1628989346.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:02:26.491Z,1628989346.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:02:26.920Z,1628989346.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:02:27.302Z,1628989347.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,009A9,186,80,80,86,FF
2021-08-15T01:02:27.302Z,1628989347.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:02:27.733Z,1628989347.733 [Micromodem](INFO): Nmea in: $SNTTA,0.099233,,,,010227.74*47

2021-08-15T01:02:27.765Z,1628989347.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.880005 m, bearing: 109.027004 deg, deltaT: 4.355447 s, approachRate: 0.537259 m/s, LOS rate: 14.869137 deg/s, posRepo size: 4
2021-08-15T01:02:27.765Z,1628989347.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.869137 deg/s. Setting heading cmd to target bearing of 109.027004deg and heading rate command to 0 deg/s.
2021-08-15T01:02:30.165Z,1628989350.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:02:30.533Z,1628989350.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:02:30.534Z,1628989350.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:02:30.534Z,1628989350.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:02:30.535Z,1628989350.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:02:30.937Z,1628989350.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEB,000,009A9,186,80,80,86,FF
2021-08-15T01:02:30.937Z,1628989350.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:02:30.937Z,1628989350.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:02:30.939Z,1628989350.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:02:31.353Z,1628989351.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:02:31.745Z,1628989351.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,009D4,188,80,80,9D,FF
2021-08-15T01:02:31.746Z,1628989351.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:02:32.190Z,1628989352.190 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010232.18*55

2021-08-15T01:02:32.257Z,1628989352.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.459999 m, bearing: 72.854049 deg, deltaT: 4.504326 s, approachRate: 0.572781 m/s, LOS rate: -8.030714 deg/s, posRepo size: 4
2021-08-15T01:02:32.259Z,1628989352.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.459999 m,
      bearing: 72.854049 deg,
      approachRate: 0.572781 m/s,
      LOS rate: -8.030714 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 109.027004 deg,
      new cmd heading: 109.027004 deg.

2021-08-15T01:02:34.599Z,1628989354.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:02:34.973Z,1628989354.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:02:34.973Z,1628989354.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:02:34.974Z,1628989354.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:02:34.975Z,1628989354.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:02:35.385Z,1628989355.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,009D4,188,80,80,9D,FF
2021-08-15T01:02:35.385Z,1628989355.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:02:35.386Z,1628989355.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:02:35.387Z,1628989355.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:02:35.789Z,1628989355.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:02:36.198Z,1628989356.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,009FD,186,80,80,95,FF
2021-08-15T01:02:36.198Z,1628989356.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:02:36.643Z,1628989356.643 [Micromodem](INFO): Nmea in: $SNTTA,0.079634,,,,010236.64*4B

2021-08-15T01:02:36.703Z,1628989356.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.919998 m, bearing: 117.691126 deg, deltaT: 4.457946 s, approachRate: 0.551823 m/s, LOS rate: 10.057788 deg/s, posRepo size: 4
2021-08-15T01:02:36.710Z,1628989356.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.919998 m,
      bearing: 117.691126 deg,
      approachRate: 0.551823 m/s,
      LOS rate: 10.057788 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 55.584342 deg,
      new cmd heading: 50.422290 deg.

2021-08-15T01:02:39.093Z,1628989359.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:02:39.429Z,1628989359.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:02:39.429Z,1628989359.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:02:39.430Z,1628989359.430 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:02:39.431Z,1628989359.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:02:39.821Z,1628989359.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,009FD,186,80,80,95,FF
2021-08-15T01:02:39.821Z,1628989359.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:02:39.821Z,1628989359.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:02:39.823Z,1628989359.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:02:40.249Z,1628989360.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:02:41.066Z,1628989361.066 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010241.07*5F

2021-08-15T01:02:41.919Z,1628989361.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:02:43.463Z,1628989363.463 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,255,000,08AFD,189,80,80,8F,FF
2021-08-15T01:02:43.463Z,1628989363.463 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:02:43.940Z,1628989363.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2097.359863 m, bearing: 46.366299 deg, deltaT: 7.209546 s, approachRate: 274.835602 m/s, LOS rate: -9.893109 deg/s, posRepo size: 4
2021-08-15T01:02:43.942Z,1628989363.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2097.359863 m,
      bearing: 46.366299 deg,
      approachRate: 274.835602 m/s,
      LOS rate: -9.893109 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 142.176008 deg,
      new cmd heading: 147.534080 deg.

2021-08-15T01:02:46.312Z,1628989366.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:02:46.734Z,1628989366.734 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:02:46.735Z,1628989366.735 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:02:46.735Z,1628989366.735 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:02:46.736Z,1628989366.736 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:02:47.093Z,1628989367.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
255,000,08AFD,189,80,80,8F,FF
2021-08-15T01:02:47.093Z,1628989367.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:02:47.093Z,1628989367.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:02:47.095Z,1628989367.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:02:47.600Z,1628989367.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:02:48.398Z,1628989368.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010248.34*56

2021-08-15T01:02:48.831Z,1628989368.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:02:50.405Z,1628989370.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,8F,FF
2021-08-15T01:02:50.406Z,1628989370.406 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,8F,FF
2021-08-15T01:02:50.406Z,1628989370.406 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:02:51.657Z,1628989371.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:02:52.021Z,1628989372.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:02:52.021Z,1628989372.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:02:52.021Z,1628989372.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:02:52.022Z,1628989372.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:02:52.441Z,1628989372.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,8F,FF
2021-08-15T01:02:52.441Z,1628989372.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:02:52.441Z,1628989372.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:02:52.443Z,1628989372.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:02:52.847Z,1628989372.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:02:53.257Z,1628989373.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,00AA3,186,80,80,4E,FF
2021-08-15T01:02:53.257Z,1628989373.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:02:53.677Z,1628989373.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010253.69*54

2021-08-15T01:02:53.693Z,1628989373.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.880005 m, bearing: 95.126729 deg, deltaT: 9.782897 s, approachRate: -201.523117 m/s, LOS rate: 4.984253 deg/s, posRepo size: 4
2021-08-15T01:02:53.695Z,1628989373.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.880005 m,
      bearing: 95.126729 deg,
      approachRate: -201.523117 m/s,
      LOS rate: 4.984253 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 24.760158 deg,
      new cmd heading: 19.728545 deg.

2021-08-15T01:02:56.094Z,1628989376.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:02:56.478Z,1628989376.478 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:02:56.478Z,1628989376.478 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:02:56.478Z,1628989376.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:02:56.479Z,1628989376.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:02:56.892Z,1628989376.892 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,00AA3,186,80,80,4E,FF
2021-08-15T01:02:56.892Z,1628989376.892 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:02:56.892Z,1628989376.892 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:02:56.894Z,1628989376.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:02:57.308Z,1628989377.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:02:57.710Z,1628989377.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F12,000,00ACB,186,80,80,71,FF
2021-08-15T01:02:57.710Z,1628989377.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:02:58.141Z,1628989378.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010258.14*55

2021-08-15T01:02:58.198Z,1628989378.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.279999 m, bearing: 106.384493 deg, deltaT: 4.452766 s, approachRate: 0.538989 m/s, LOS rate: 2.528263 deg/s, posRepo size: 4
2021-08-15T01:02:58.205Z,1628989378.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.279999 m,
      bearing: 106.384493 deg,
      approachRate: 0.538989 m/s,
      LOS rate: 2.528263 deg/s,
      cmd update: 10.113052 deg/s,
      cmd heading: 78.193555 deg,
      new cmd heading: 83.550919 deg.

2021-08-15T01:03:00.566Z,1628989380.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:03:00.937Z,1628989380.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:03:00.937Z,1628989380.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:03:00.937Z,1628989380.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:03:00.938Z,1628989380.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:03:01.345Z,1628989381.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,00ACB,186,80,80,71,FF
2021-08-15T01:03:01.346Z,1628989381.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:03:01.346Z,1628989381.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:03:01.349Z,1628989381.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:03:01.749Z,1628989381.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:03:02.566Z,1628989382.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010302.60*58

2021-08-15T01:03:03.371Z,1628989383.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:03:04.969Z,1628989384.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,71,FF
2021-08-15T01:03:04.969Z,1628989384.969 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,71,FF
2021-08-15T01:03:04.969Z,1628989384.969 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:03:06.239Z,1628989386.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:03:06.585Z,1628989386.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:03:06.585Z,1628989386.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:03:06.585Z,1628989386.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:03:06.586Z,1628989386.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:03:06.990Z,1628989386.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,71,FF
2021-08-15T01:03:06.990Z,1628989386.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:03:06.990Z,1628989386.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:03:06.994Z,1628989386.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:03:07.480Z,1628989387.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:03:07.909Z,1628989387.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,00B2A,187,80,80,58,FF
2021-08-15T01:03:07.909Z,1628989387.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:03:08.297Z,1628989388.297 [Micromodem](INFO): Nmea in: $SNTTA,0.091370,,,,010308.24*40

2021-08-15T01:03:08.344Z,1628989388.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.980011 m, bearing: 95.226450 deg, deltaT: 10.210110 s, approachRate: 0.558271 m/s, LOS rate: -1.092843 deg/s, posRepo size: 4
2021-08-15T01:03:08.346Z,1628989388.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.980011 m,
      bearing: 95.226450 deg,
      approachRate: 0.558271 m/s,
      LOS rate: -1.092843 deg/s,
      cmd update: -4.371370 deg/s,
      cmd heading: 181.445593 deg,
      new cmd heading: 185.525420 deg.

2021-08-15T01:03:10.779Z,1628989390.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:03:11.117Z,1628989391.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:03:11.117Z,1628989391.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:03:11.117Z,1628989391.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:03:11.118Z,1628989391.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:03:11.509Z,1628989391.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,00B2A,187,80,80,58,FF
2021-08-15T01:03:11.509Z,1628989391.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:03:11.510Z,1628989391.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:03:11.511Z,1628989391.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:03:11.953Z,1628989391.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:03:12.759Z,1628989392.759 [Micromodem](INFO): Nmea in: $SNTTA,,0.468909,,,010312.76*4A

2021-08-15T01:03:13.537Z,1628989393.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,03C6F,186,80,80,3F,FF
2021-08-15T01:03:13.538Z,1628989393.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:03:13.983Z,1628989393.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 890.760010 m, bearing: 122.011986 deg, deltaT: 5.646967 s, approachRate: 134.015305 m/s, LOS rate: 4.743349 deg/s, posRepo size: 4
2021-08-15T01:03:13.985Z,1628989393.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 890.760010 m,
      bearing: 122.011986 deg,
      approachRate: 134.015305 m/s,
      LOS rate: 4.743349 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 156.758280 deg,
      new cmd heading: 155.013259 deg.

2021-08-15T01:03:16.385Z,1628989396.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:03:16.774Z,1628989396.774 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:03:16.774Z,1628989396.774 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:03:16.774Z,1628989396.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:03:16.775Z,1628989396.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:03:17.169Z,1628989397.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,03C6F,186,80,80,3F,FF
2021-08-15T01:03:17.169Z,1628989397.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:03:17.169Z,1628989397.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:03:17.171Z,1628989397.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:03:17.594Z,1628989397.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:03:17.992Z,1628989397.992 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,00B82,186,80,80,9D,FF
2021-08-15T01:03:17.993Z,1628989397.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:03:18.429Z,1628989398.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010318.42*53

2021-08-15T01:03:18.452Z,1628989398.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.259995 m, bearing: 143.052015 deg, deltaT: 4.435788 s, approachRate: -169.417480 m/s, LOS rate: 4.743245 deg/s, posRepo size: 4
2021-08-15T01:03:18.454Z,1628989398.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.259995 m,
      bearing: 143.052015 deg,
      approachRate: -169.417480 m/s,
      LOS rate: 4.743245 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 209.984785 deg,
      new cmd heading: 215.174317 deg.

2021-08-15T01:03:18.824Z,1628989398.824 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T01:03:20.919Z,1628989400.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:03:21.216Z,1628989401.216 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:03:21.217Z,1628989401.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:03:21.217Z,1628989401.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:03:21.218Z,1628989401.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:03:21.610Z,1628989401.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,00B82,186,80,80,9D,FF
2021-08-15T01:03:21.610Z,1628989401.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:03:21.611Z,1628989401.611 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:03:21.652Z,1628989401.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:03:22.016Z,1628989402.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:03:22.417Z,1628989402.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE7,000,00B82,186,80,80,9D,FF
2021-08-15T01:03:22.418Z,1628989402.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:03:22.841Z,1628989402.841 [Micromodem](INFO): Nmea in: $SNTTA,0.438455,0.437511,,,010322.90*5B

2021-08-15T01:03:22.913Z,1628989402.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.259995 m, bearing: 158.956698 deg, deltaT: 4.435614 s, approachRate: 0.000000 m/s, LOS rate: 3.585678 deg/s, posRepo size: 4
2021-08-15T01:03:22.915Z,1628989402.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.259995 m,
      bearing: 158.956698 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.585678 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 263.074359 deg,
      new cmd heading: 268.657155 deg.

2021-08-15T01:03:24.970Z,1628989404.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:03:25.253Z,1628989405.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:03:25.253Z,1628989405.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:03:25.253Z,1628989405.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:03:25.254Z,1628989405.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:03:25.654Z,1628989405.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE7,000,00B82,186,80,80,9D,FF
2021-08-15T01:03:25.654Z,1628989405.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:03:25.654Z,1628989405.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:03:25.657Z,1628989405.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:03:26.065Z,1628989406.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:03:26.464Z,1628989406.464 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,00BA8,188,80,80,8E,FF
2021-08-15T01:03:26.465Z,1628989406.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:03:26.905Z,1628989406.905 [Micromodem](INFO): Nmea in: $SNTTA,0.096368,0.438230,,,010326.90*5D

2021-08-15T01:03:26.960Z,1628989406.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.540009 m, bearing: 129.696276 deg, deltaT: 4.035950 s, approachRate: 0.564926 m/s, LOS rate: -7.249946 deg/s, posRepo size: 4
2021-08-15T01:03:26.962Z,1628989406.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.540009 m,
      bearing: 129.696276 deg,
      approachRate: 0.564926 m/s,
      LOS rate: -7.249946 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 311.617564 deg,
      new cmd heading: 317.269036 deg.

2021-08-15T01:03:29.311Z,1628989409.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:03:29.689Z,1628989409.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:03:29.690Z,1628989409.690 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:03:29.690Z,1628989409.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:03:29.691Z,1628989409.691 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:03:30.101Z,1628989410.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,00BA8,188,80,80,8E,FF
2021-08-15T01:03:30.101Z,1628989410.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:03:30.101Z,1628989410.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:03:30.103Z,1628989410.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:03:30.497Z,1628989410.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:03:30.941Z,1628989410.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,00BA5,186,80,80,AE,FF
2021-08-15T01:03:30.941Z,1628989410.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:03:31.354Z,1628989411.354 [Micromodem](INFO): Nmea in: $SNTTA,0.108240,,,,010331.35*49

2021-08-15T01:03:31.383Z,1628989411.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.360001 m, bearing: 202.432887 deg, deltaT: 4.520948 s, approachRate: -0.039816 m/s, LOS rate: 16.088796 deg/s, posRepo size: 4
2021-08-15T01:03:31.384Z,1628989411.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.088796 deg/s. Setting heading cmd to target bearing of 202.432887deg and heading rate command to 0 deg/s.
2021-08-15T01:03:33.751Z,1628989413.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:03:34.145Z,1628989414.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:03:34.145Z,1628989414.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:03:34.145Z,1628989414.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:03:34.146Z,1628989414.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:03:34.546Z,1628989414.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,00BA5,186,80,80,AE,FF
2021-08-15T01:03:34.546Z,1628989414.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:03:34.546Z,1628989414.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:03:34.548Z,1628989414.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:03:34.956Z,1628989414.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:03:35.361Z,1628989415.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B40,000,00B99,18A,80,80,27,FF
2021-08-15T01:03:35.362Z,1628989415.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:03:35.785Z,1628989415.785 [Micromodem](INFO): Nmea in: $SNTTA,0.095839,,,,010335.80*42

2021-08-15T01:03:35.821Z,1628989415.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.639999 m, bearing: 257.646046 deg, deltaT: 4.415800 s, approachRate: -0.163051 m/s, LOS rate: 12.503546 deg/s, posRepo size: 4
2021-08-15T01:03:35.821Z,1628989415.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.503546 deg/s. Setting heading cmd to target bearing of 257.646046deg and heading rate command to 0 deg/s.
2021-08-15T01:03:38.235Z,1628989418.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:03:38.581Z,1628989418.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:03:38.581Z,1628989418.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:03:38.582Z,1628989418.582 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:03:38.583Z,1628989418.583 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:03:38.989Z,1628989418.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B40,000,00B99,18A,80,80,27,FF
2021-08-15T01:03:38.989Z,1628989418.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:03:38.989Z,1628989418.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:03:38.991Z,1628989418.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:03:39.409Z,1628989419.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:03:39.801Z,1628989419.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C18,000,00B7E,189,80,80,66,FF
2021-08-15T01:03:39.802Z,1628989419.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:03:40.245Z,1628989420.245 [Micromodem](INFO): Nmea in: $SNTTA,0.119731,,,,010340.24*4C

2021-08-15T01:03:40.317Z,1628989420.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.020004 m, bearing: 265.999805 deg, deltaT: 4.458896 s, approachRate: -0.363318 m/s, LOS rate: 1.873504 deg/s, posRepo size: 4
2021-08-15T01:03:40.324Z,1628989420.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.020004 m,
      bearing: 265.999805 deg,
      approachRate: -0.363318 m/s,
      LOS rate: 1.873504 deg/s,
      cmd update: 7.494015 deg/s,
      cmd heading: 257.646046 deg,
      new cmd heading: 257.646046 deg.

2021-08-15T01:03:42.728Z,1628989422.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:03:43.040Z,1628989423.040 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:03:43.040Z,1628989423.040 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:03:43.040Z,1628989423.040 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:03:43.041Z,1628989423.041 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:03:43.433Z,1628989423.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C18,000,00B7E,189,80,80,66,FF
2021-08-15T01:03:43.433Z,1628989423.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:03:43.433Z,1628989423.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:03:43.435Z,1628989423.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:03:43.841Z,1628989423.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:03:44.254Z,1628989424.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17B,000,00A12,186,80,80,8A,FF
2021-08-15T01:03:44.254Z,1628989424.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:03:44.710Z,1628989424.710 [Micromodem](INFO): Nmea in: $SNTTA,0.088894,,,,010344.68*49

2021-08-15T01:03:44.765Z,1628989424.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.180000 m, bearing: 216.748964 deg, deltaT: 4.424756 s, approachRate: -4.935866 m/s, LOS rate: -11.130748 deg/s, posRepo size: 4
2021-08-15T01:03:44.767Z,1628989424.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.180000 m,
      bearing: 216.748964 deg,
      approachRate: -4.935866 m/s,
      LOS rate: -11.130748 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 290.979224 deg,
      new cmd heading: 294.254655 deg.

2021-08-15T01:03:47.127Z,1628989427.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:03:47.477Z,1628989427.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:03:47.477Z,1628989427.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:03:47.478Z,1628989427.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:03:47.479Z,1628989427.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:03:47.907Z,1628989427.907 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17B,000,00A12,186,80,80,8A,FF
2021-08-15T01:03:47.907Z,1628989427.907 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:03:47.907Z,1628989427.907 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:03:47.909Z,1628989427.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:03:48.289Z,1628989428.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:03:48.725Z,1628989428.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,00715,186,80,80,80,FF
2021-08-15T01:03:48.726Z,1628989428.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:03:49.119Z,1628989429.119 [Micromodem](INFO): Nmea in: $SNTTA,0.085794,,,,010349.16*4F

2021-08-15T01:03:49.165Z,1628989429.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.280006 m, bearing: 273.091317 deg, deltaT: 4.470670 s, approachRate: -10.266916 m/s, LOS rate: 12.602665 deg/s, posRepo size: 4
2021-08-15T01:03:49.166Z,1628989429.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.602665 deg/s. Setting heading cmd to target bearing of 273.091317deg and heading rate command to 0 deg/s.
2021-08-15T01:03:51.531Z,1628989431.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:03:51.933Z,1628989431.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:03:51.933Z,1628989431.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:03:51.933Z,1628989431.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:03:51.934Z,1628989431.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:03:52.336Z,1628989432.336 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,00715,186,80,80,80,FF
2021-08-15T01:03:52.336Z,1628989432.336 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:03:52.337Z,1628989432.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:03:52.338Z,1628989432.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:03:52.760Z,1628989432.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:03:53.142Z,1628989433.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,00AF0,182,80,80,9C,FF
2021-08-15T01:03:53.142Z,1628989433.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:03:53.570Z,1628989433.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.500000 m, bearing: 272.925371 deg, deltaT: 4.388968 s, approachRate: 13.492920 m/s, LOS rate: -0.037810 deg/s, posRepo size: 4
2021-08-15T01:03:53.572Z,1628989433.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.500000 m,
      bearing: 272.925371 deg,
      approachRate: 13.492920 m/s,
      LOS rate: -0.037810 deg/s,
      cmd update: -0.151239 deg/s,
      cmd heading: 273.091317 deg,
      new cmd heading: 273.091317 deg.

2021-08-15T01:03:55.994Z,1628989435.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:03:56.361Z,1628989436.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:03:56.361Z,1628989436.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:03:56.362Z,1628989436.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:03:56.363Z,1628989436.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:03:56.770Z,1628989436.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,00AF0,182,80,80,9C,FF
2021-08-15T01:03:56.770Z,1628989436.770 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:03:56.770Z,1628989436.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:03:56.771Z,1628989436.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:03:57.173Z,1628989437.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:03:57.581Z,1628989437.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,00AB8,186,80,80,AD,FF
2021-08-15T01:03:57.581Z,1628989437.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:03:58.009Z,1628989438.009 [Micromodem](INFO): Nmea in: $SNTTA,0.084533,,,,010358.02*44

2021-08-15T01:03:58.046Z,1628989438.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.140007 m, bearing: 272.756638 deg, deltaT: 4.502276 s, approachRate: -0.746288 m/s, LOS rate: -0.037477 deg/s, posRepo size: 4
2021-08-15T01:03:58.048Z,1628989438.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.140007 m,
      bearing: 272.756638 deg,
      approachRate: -0.746288 m/s,
      LOS rate: -0.037477 deg/s,
      cmd update: -0.149909 deg/s,
      cmd heading: 272.410433 deg,
      new cmd heading: 272.354045 deg.

2021-08-15T01:04:00.415Z,1628989440.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:04:00.809Z,1628989440.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:04:00.809Z,1628989440.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:04:00.810Z,1628989440.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:04:00.811Z,1628989440.811 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:04:01.210Z,1628989441.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,00AB8,186,80,80,AD,FF
2021-08-15T01:04:01.210Z,1628989441.210 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:04:01.210Z,1628989441.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:04:01.213Z,1628989441.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:04:01.616Z,1628989441.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:04:02.025Z,1628989442.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,00A84,186,80,80,A2,FF
2021-08-15T01:04:02.025Z,1628989442.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:04:02.461Z,1628989442.461 [Micromodem](INFO): Nmea in: $SNTTA,0.084795,,,,010402.46*42

2021-08-15T01:04:02.483Z,1628989442.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.020004 m, bearing: 273.172514 deg, deltaT: 4.379701 s, approachRate: -0.712378 m/s, LOS rate: 0.094955 deg/s, posRepo size: 4
2021-08-15T01:04:02.515Z,1628989442.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.020004 m,
      bearing: 273.172514 deg,
      approachRate: -0.712378 m/s,
      LOS rate: 0.094955 deg/s,
      cmd update: 0.379822 deg/s,
      cmd heading: 271.753877 deg,
      new cmd heading: 271.689300 deg.

2021-08-15T01:04:04.951Z,1628989444.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:04:05.257Z,1628989445.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:04:05.257Z,1628989445.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:04:05.257Z,1628989445.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:04:05.258Z,1628989445.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:04:05.653Z,1628989445.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,00A84,186,80,80,A2,FF
2021-08-15T01:04:05.653Z,1628989445.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:04:05.653Z,1628989445.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:04:05.655Z,1628989445.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:04:06.069Z,1628989446.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:04:06.461Z,1628989446.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,00A4B,186,80,80,AF,FF
2021-08-15T01:04:06.462Z,1628989446.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:04:06.910Z,1628989446.910 [Micromodem](INFO): Nmea in: $SNTTA,0.437338,,,,010406.90*42

2021-08-15T01:04:06.983Z,1628989446.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.600006 m, bearing: 272.892832 deg, deltaT: 4.458465 s, approachRate: -0.767080 m/s, LOS rate: -0.062731 deg/s, posRepo size: 4
2021-08-15T01:04:06.989Z,1628989446.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.600006 m,
      bearing: 272.892832 deg,
      approachRate: -0.767080 m/s,
      LOS rate: -0.062731 deg/s,
      cmd update: -0.250923 deg/s,
      cmd heading: 273.436802 deg,
      new cmd heading: 273.626443 deg.

2021-08-15T01:04:09.328Z,1628989449.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:04:09.693Z,1628989449.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:04:09.693Z,1628989449.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:04:09.693Z,1628989449.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:04:09.694Z,1628989449.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:04:10.097Z,1628989450.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,00A4B,186,80,80,AF,FF
2021-08-15T01:04:10.097Z,1628989450.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:04:10.097Z,1628989450.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:04:10.099Z,1628989450.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:04:10.522Z,1628989450.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:04:10.941Z,1628989450.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,00A14,186,80,80,AF,FF
2021-08-15T01:04:10.942Z,1628989450.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:04:11.350Z,1628989451.350 [Micromodem](INFO): Nmea in: $SNTTA,,0.217141,,,010411.35*43

2021-08-15T01:04:11.372Z,1628989451.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.300011 m, bearing: 271.756316 deg, deltaT: 4.547767 s, approachRate: -0.725630 m/s, LOS rate: -0.249906 deg/s, posRepo size: 4
2021-08-15T01:04:11.374Z,1628989451.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.300011 m,
      bearing: 271.756316 deg,
      approachRate: -0.725630 m/s,
      LOS rate: -0.249906 deg/s,
      cmd update: -0.999626 deg/s,
      cmd heading: 272.289690 deg,
      new cmd heading: 272.210249 deg.

2021-08-15T01:04:13.750Z,1628989453.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:04:14.137Z,1628989454.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:04:14.137Z,1628989454.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:04:14.137Z,1628989454.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:04:14.138Z,1628989454.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:04:14.546Z,1628989454.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,00A14,186,80,80,AF,FF
2021-08-15T01:04:14.546Z,1628989454.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:04:14.546Z,1628989454.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:04:14.548Z,1628989454.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:04:14.953Z,1628989454.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:04:15.349Z,1628989455.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,0029A,186,80,80,BD,FF
2021-08-15T01:04:15.350Z,1628989455.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:04:15.793Z,1628989455.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010415.80*57

2021-08-15T01:04:15.830Z,1628989455.830 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T01:04:15.831Z,1628989455.831 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T01:04:15.833Z,1628989455.833 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T01:04:15.833Z,1628989455.833 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T01:04:15.834Z,1628989455.834 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T01:04:15.836Z,1628989455.836 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.459999 m 
2021-08-15T01:04:15.836Z,1628989455.836 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T01:04:15.836Z,1628989455.836 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T01:04:15.837Z,1628989455.837 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T01:04:15.839Z,1628989455.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2.459999 m, bearing: 271.765277 deg, deltaT: 4.307674 s, approachRate: -26.659401 m/s, LOS rate: 0.002080 deg/s, posRepo size: 4
2021-08-15T01:04:15.840Z,1628989455.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 2.46 m.
2021-08-15T01:04:15.842Z,1628989455.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 271.765277 deg,
      approachRate: -26.659401 m/s,
      LOS rate: 0.002080 deg/s,
      cmd update: 0.008321 deg/s,
      cmd heading: 267.979421 deg,
      new cmd heading: 267.507436 deg.

2021-08-15T01:04:16.196Z,1628989456.196 [PowerOnly](INFO): Powering up loadControl
2021-08-15T01:04:16.242Z,1628989456.242 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T01:04:16.242Z,1628989456.242 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:04:16.243Z,1628989456.243 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T01:04:16.243Z,1628989456.243 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T01:04:16.243Z,1628989456.243 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T01:04:16.243Z,1628989456.243 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T01:04:16.245Z,1628989456.245 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T010416: (41.552319, -70.708603)
2021-08-15T01:04:16.245Z,1628989456.245 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T01:04:16.245Z,1628989456.245 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T01:04:16.246Z,1628989456.246 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T01:04:16.246Z,1628989456.246 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T01:04:16.246Z,1628989456.246 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T01:04:16.246Z,1628989456.246 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T01:04:16.246Z,1628989456.246 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T01:04:16.246Z,1628989456.246 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T01:04:16.695Z,1628989456.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T01:04:16.695Z,1628989456.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:04:16.695Z,1628989456.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T01:04:16.695Z,1628989456.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:04:18.254Z,1628989458.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:04:18.589Z,1628989458.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:04:18.589Z,1628989458.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:04:18.589Z,1628989458.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:04:18.590Z,1628989458.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:04:18.993Z,1628989458.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,0029A,186,80,80,BD,FF
2021-08-15T01:04:18.993Z,1628989458.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:04:18.993Z,1628989458.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:04:18.995Z,1628989458.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:04:19.405Z,1628989459.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:04:19.801Z,1628989459.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,0099E,186,80,80,85,FF
2021-08-15T01:04:19.801Z,1628989459.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:04:19.850Z,1628989459.850 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:04:20.237Z,1628989460.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010420.24*5F

2021-08-15T01:04:20.287Z,1628989460.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.220001 m, bearing: 268.874741 deg, deltaT: 4.480662 s, approachRate: 24.050018 m/s, LOS rate: -0.645114 deg/s, posRepo size: 4
2021-08-15T01:04:20.289Z,1628989460.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.220001 m,
      bearing: 268.874741 deg,
      approachRate: 24.050018 m/s,
      LOS rate: -0.645114 deg/s,
      cmd update: -2.580454 deg/s,
      cmd heading: 268.016500 deg,
      new cmd heading: 268.020359 deg.

2021-08-15T01:04:20.694Z,1628989460.694 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T01:04:20.695Z,1628989460.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:04:20.695Z,1628989460.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T01:04:20.695Z,1628989460.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T01:04:20.695Z,1628989460.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T01:04:20.696Z,1628989460.696 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T01:04:21.076Z,1628989461.076 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T01:04:21.077Z,1628989461.077 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:04:21.077Z,1628989461.077 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T01:04:21.077Z,1628989461.077 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:04:22.709Z,1628989462.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:04:23.029Z,1628989463.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:04:23.029Z,1628989463.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:04:23.029Z,1628989463.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:04:23.030Z,1628989463.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:04:23.442Z,1628989463.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,0099E,186,80,80,85,FF
2021-08-15T01:04:23.442Z,1628989463.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:04:23.442Z,1628989463.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:04:23.444Z,1628989463.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:04:23.847Z,1628989463.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:04:24.253Z,1628989464.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00966,185,80,80,61,FF
2021-08-15T01:04:24.254Z,1628989464.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:04:24.701Z,1628989464.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010424.69*52

2021-08-15T01:04:24.736Z,1628989464.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.860001 m, bearing: 267.975505 deg, deltaT: 4.475908 s, approachRate: -0.750686 m/s, LOS rate: -0.200906 deg/s, posRepo size: 4
2021-08-15T01:04:24.738Z,1628989464.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.860001 m,
      bearing: 267.975505 deg,
      approachRate: -0.750686 m/s,
      LOS rate: -0.200906 deg/s,
      cmd update: -0.803623 deg/s,
      cmd heading: 256.403541 deg,
      new cmd heading: 255.338028 deg.

2021-08-15T01:04:27.097Z,1628989467.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:04:27.481Z,1628989467.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:04:27.481Z,1628989467.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:04:27.482Z,1628989467.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:04:27.482Z,1628989467.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:04:27.897Z,1628989467.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00966,185,80,80,61,FF
2021-08-15T01:04:27.897Z,1628989467.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:04:27.897Z,1628989467.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:04:27.899Z,1628989467.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:04:28.293Z,1628989468.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:04:28.721Z,1628989468.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,00930,184,80,80,98,FF
2021-08-15T01:04:28.721Z,1628989468.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:04:29.137Z,1628989469.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010429.15*54

2021-08-15T01:04:29.177Z,1628989469.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.620003 m, bearing: 267.055069 deg, deltaT: 4.484351 s, approachRate: -0.722512 m/s, LOS rate: -0.205255 deg/s, posRepo size: 4
2021-08-15T01:04:29.179Z,1628989469.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.620003 m,
      bearing: 267.055069 deg,
      approachRate: -0.722512 m/s,
      LOS rate: -0.205255 deg/s,
      cmd update: -0.821021 deg/s,
      cmd heading: 252.802898 deg,
      new cmd heading: 252.503452 deg.

2021-08-15T01:04:31.557Z,1628989471.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:04:31.933Z,1628989471.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:04:31.933Z,1628989471.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:04:31.933Z,1628989471.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:04:31.934Z,1628989471.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:04:32.349Z,1628989472.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,00930,184,80,80,98,FF
2021-08-15T01:04:32.349Z,1628989472.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:04:32.349Z,1628989472.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:04:32.351Z,1628989472.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:04:32.757Z,1628989472.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:04:33.161Z,1628989473.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,00901,187,80,80,AB,FF
2021-08-15T01:04:33.162Z,1628989473.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:04:33.613Z,1628989473.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010433.60*5D

2021-08-15T01:04:33.635Z,1628989473.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.800011 m, bearing: 264.727641 deg, deltaT: 4.417001 s, approachRate: -0.638440 m/s, LOS rate: -0.526925 deg/s, posRepo size: 4
2021-08-15T01:04:33.638Z,1628989473.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.800011 m,
      bearing: 264.727641 deg,
      approachRate: -0.638440 m/s,
      LOS rate: -0.526925 deg/s,
      cmd update: -2.107700 deg/s,
      cmd heading: 249.181454 deg,
      new cmd heading: 248.836106 deg.

2021-08-15T01:04:36.027Z,1628989476.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:04:36.389Z,1628989476.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:04:36.389Z,1628989476.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:04:36.389Z,1628989476.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:04:36.390Z,1628989476.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:04:36.789Z,1628989476.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,00901,187,80,80,AB,FF
2021-08-15T01:04:36.789Z,1628989476.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:04:36.789Z,1628989476.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:04:36.791Z,1628989476.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:04:37.203Z,1628989477.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:04:37.624Z,1628989477.624 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,008C9,186,80,80,92,FF
2021-08-15T01:04:37.625Z,1628989477.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:04:38.066Z,1628989478.066 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010438.04*54

2021-08-15T01:04:38.120Z,1628989478.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.440002 m, bearing: 264.769333 deg, deltaT: 4.416978 s, approachRate: -0.760703 m/s, LOS rate: 0.009439 deg/s, posRepo size: 4
2021-08-15T01:04:38.122Z,1628989478.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.440002 m,
      bearing: 264.769333 deg,
      approachRate: -0.760703 m/s,
      LOS rate: 0.009439 deg/s,
      cmd update: 0.037756 deg/s,
      cmd heading: 239.850368 deg,
      new cmd heading: 238.851097 deg.

2021-08-15T01:04:40.451Z,1628989480.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:04:40.842Z,1628989480.842 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:04:40.842Z,1628989480.842 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:04:40.842Z,1628989480.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:04:40.843Z,1628989480.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:04:41.257Z,1628989481.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,008C9,186,80,80,92,FF
2021-08-15T01:04:41.257Z,1628989481.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:04:41.257Z,1628989481.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:04:41.259Z,1628989481.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:04:41.645Z,1628989481.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:04:42.049Z,1628989482.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,00891,186,80,80,B2,FF
2021-08-15T01:04:42.050Z,1628989482.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:04:42.477Z,1628989482.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010442.51*59

2021-08-15T01:04:42.499Z,1628989482.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.080002 m, bearing: 267.363794 deg, deltaT: 4.435629 s, approachRate: -0.757503 m/s, LOS rate: 0.584914 deg/s, posRepo size: 4
2021-08-15T01:04:42.522Z,1628989482.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.080002 m,
      bearing: 267.363794 deg,
      approachRate: -0.757503 m/s,
      LOS rate: 0.584914 deg/s,
      cmd update: 2.339655 deg/s,
      cmd heading: 240.017805 deg,
      new cmd heading: 240.033774 deg.

2021-08-15T01:04:44.961Z,1628989484.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:04:45.313Z,1628989485.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:04:45.313Z,1628989485.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:04:45.313Z,1628989485.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:04:45.314Z,1628989485.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:04:45.685Z,1628989485.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,00891,186,80,80,B2,FF
2021-08-15T01:04:45.685Z,1628989485.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:04:45.685Z,1628989485.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:04:45.687Z,1628989485.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:04:46.097Z,1628989486.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:04:46.485Z,1628989486.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,0085E,187,80,80,77,FF
2021-08-15T01:04:46.486Z,1628989486.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:04:46.941Z,1628989486.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010446.94*54

2021-08-15T01:04:47.007Z,1628989487.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.020004 m, bearing: 270.484698 deg, deltaT: 4.457299 s, approachRate: -0.686514 m/s, LOS rate: 0.700178 deg/s, posRepo size: 4
2021-08-15T01:04:47.009Z,1628989487.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.020004 m,
      bearing: 270.484698 deg,
      approachRate: -0.686514 m/s,
      LOS rate: 0.700178 deg/s,
      cmd update: 2.800714 deg/s,
      cmd heading: 250.438991 deg,
      new cmd heading: 251.553841 deg.

2021-08-15T01:04:49.358Z,1628989489.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:04:49.725Z,1628989489.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:04:49.725Z,1628989489.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:04:49.725Z,1628989489.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:04:49.726Z,1628989489.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:04:50.138Z,1628989490.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,0085E,187,80,80,77,FF
2021-08-15T01:04:50.138Z,1628989490.138 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:04:50.138Z,1628989490.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:04:50.141Z,1628989490.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:04:50.525Z,1628989490.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:04:50.950Z,1628989490.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,00829,186,80,80,9E,FF
2021-08-15T01:04:50.950Z,1628989490.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:04:50.982Z,1628989490.982 [Micromodem](INFO): Nmea in: $SNTTA,0.194414,0.194289,,,010451.39*57

2021-08-15T01:04:51.360Z,1628989491.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.839996 m, bearing: 268.219370 deg, deltaT: 4.529261 s, approachRate: -0.702103 m/s, LOS rate: -0.500154 deg/s, posRepo size: 4
2021-08-15T01:04:51.362Z,1628989491.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.839996 m,
      bearing: 268.219370 deg,
      approachRate: -0.702103 m/s,
      LOS rate: -0.500154 deg/s,
      cmd update: -2.000616 deg/s,
      cmd heading: 263.104182 deg,
      new cmd heading: 263.964018 deg.

2021-08-15T01:04:53.783Z,1628989493.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:04:54.169Z,1628989494.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:04:54.170Z,1628989494.170 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:04:54.170Z,1628989494.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:04:54.171Z,1628989494.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:04:54.578Z,1628989494.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,00829,186,80,80,9E,FF
2021-08-15T01:04:54.578Z,1628989494.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:04:54.578Z,1628989494.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:04:54.580Z,1628989494.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:04:54.983Z,1628989494.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:04:55.373Z,1628989495.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,007F2,183,80,80,B0,FF
2021-08-15T01:04:55.374Z,1628989495.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:04:55.821Z,1628989495.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010455.83*50

2021-08-15T01:04:55.896Z,1628989495.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.540001 m, bearing: 266.148430 deg, deltaT: 4.343421 s, approachRate: -0.759769 m/s, LOS rate: -0.476799 deg/s, posRepo size: 4
2021-08-15T01:04:55.902Z,1628989495.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.540001 m,
      bearing: 266.148430 deg,
      approachRate: -0.759769 m/s,
      LOS rate: -0.476799 deg/s,
      cmd update: -1.907198 deg/s,
      cmd heading: 254.400513 deg,
      new cmd heading: 253.415862 deg.

2021-08-15T01:04:57.931Z,1628989497.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:04:58.238Z,1628989498.238 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:04:58.238Z,1628989498.238 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:04:58.239Z,1628989498.239 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:04:58.239Z,1628989498.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:04:58.681Z,1628989498.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,007F2,183,80,80,B0,FF
2021-08-15T01:04:58.682Z,1628989498.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:04:58.682Z,1628989498.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:04:58.689Z,1628989498.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:04:59.055Z,1628989499.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:04:59.449Z,1628989499.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,007C0,184,80,80,C1,FF
2021-08-15T01:04:59.449Z,1628989499.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:04:59.874Z,1628989499.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010459.94*5A

2021-08-15T01:04:59.933Z,1628989499.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.540001 m, bearing: 266.560618 deg, deltaT: 4.058948 s, approachRate: -0.739108 m/s, LOS rate: 0.101551 deg/s, posRepo size: 4
2021-08-15T01:04:59.935Z,1628989499.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.540001 m,
      bearing: 266.560618 deg,
      approachRate: -0.739108 m/s,
      LOS rate: 0.101551 deg/s,
      cmd update: 0.406202 deg/s,
      cmd heading: 246.651552 deg,
      new cmd heading: 245.760616 deg.

2021-08-15T01:05:02.350Z,1628989502.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:05:02.729Z,1628989502.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:05:02.729Z,1628989502.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:05:02.729Z,1628989502.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:05:02.730Z,1628989502.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:05:03.075Z,1628989503.075 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,007C0,184,80,80,C1,FF
2021-08-15T01:05:03.076Z,1628989503.076 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:05:03.076Z,1628989503.076 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:05:03.080Z,1628989503.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:05:03.492Z,1628989503.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:05:03.905Z,1628989503.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,0078C,187,80,80,8E,FF
2021-08-15T01:05:03.906Z,1628989503.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:05:04.325Z,1628989504.325 [Micromodem](INFO): Nmea in: $SNTTA,0.077299,,,,010504.33*42

2021-08-15T01:05:04.358Z,1628989504.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.420006 m, bearing: 269.403752 deg, deltaT: 4.513852 s, approachRate: -0.691205 m/s, LOS rate: 0.629869 deg/s, posRepo size: 4
2021-08-15T01:05:04.359Z,1628989504.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.420006 m,
      bearing: 269.403752 deg,
      approachRate: -0.691205 m/s,
      LOS rate: 0.629869 deg/s,
      cmd update: 2.519475 deg/s,
      cmd heading: 248.483441 deg,
      new cmd heading: 248.638375 deg.

2021-08-15T01:05:06.786Z,1628989506.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:05:07.121Z,1628989507.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:05:07.121Z,1628989507.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:05:07.121Z,1628989507.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:05:07.122Z,1628989507.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:05:07.521Z,1628989507.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,0078C,187,80,80,8E,FF
2021-08-15T01:05:07.521Z,1628989507.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:05:07.521Z,1628989507.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:05:07.523Z,1628989507.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:05:07.941Z,1628989507.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:05:08.333Z,1628989508.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF8,000,00757,186,80,80,AA,FF
2021-08-15T01:05:08.334Z,1628989508.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:05:08.785Z,1628989508.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010508.77*52

2021-08-15T01:05:08.892Z,1628989508.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.239998 m, bearing: 268.511347 deg, deltaT: 4.371424 s, approachRate: -0.727454 m/s, LOS rate: -0.204145 deg/s, posRepo size: 4
2021-08-15T01:05:08.894Z,1628989508.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.239998 m,
      bearing: 268.511347 deg,
      approachRate: -0.727454 m/s,
      LOS rate: -0.204145 deg/s,
      cmd update: -0.816581 deg/s,
      cmd heading: 259.505915 deg,
      new cmd heading: 260.834999 deg.

2021-08-15T01:05:11.280Z,1628989511.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:05:11.593Z,1628989511.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:05:11.593Z,1628989511.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:05:11.593Z,1628989511.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:05:11.594Z,1628989511.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:05:11.977Z,1628989511.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF8,000,00757,186,80,80,AA,FF
2021-08-15T01:05:11.978Z,1628989511.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:05:11.978Z,1628989511.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:05:11.979Z,1628989511.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:05:12.404Z,1628989512.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:05:12.778Z,1628989512.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,00722,187,80,80,B7,FF
2021-08-15T01:05:12.779Z,1628989512.779 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:05:13.218Z,1628989513.218 [Micromodem](INFO): Nmea in: $SNTTA,,0.047596,,,010513.23*4E

2021-08-15T01:05:13.259Z,1628989513.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.060005 m, bearing: 267.949605 deg, deltaT: 4.502595 s, approachRate: -0.706258 m/s, LOS rate: -0.124760 deg/s, posRepo size: 4
2021-08-15T01:05:13.261Z,1628989513.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.060005 m,
      bearing: 267.949605 deg,
      approachRate: -0.706258 m/s,
      LOS rate: -0.124760 deg/s,
      cmd update: -0.499038 deg/s,
      cmd heading: 255.843799 deg,
      new cmd heading: 255.498487 deg.

2021-08-15T01:05:15.627Z,1628989515.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:05:16.005Z,1628989516.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:05:16.005Z,1628989516.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:05:16.005Z,1628989516.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:05:16.006Z,1628989516.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:05:16.413Z,1628989516.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,00722,187,80,80,B7,FF
2021-08-15T01:05:16.413Z,1628989516.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:05:16.413Z,1628989516.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:05:16.415Z,1628989516.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:05:16.821Z,1628989516.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:05:17.218Z,1628989517.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,006EA,186,80,80,94,FF
2021-08-15T01:05:17.218Z,1628989517.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:05:17.665Z,1628989517.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010517.66*5C

2021-08-15T01:05:17.691Z,1628989517.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.699997 m, bearing: 268.432691 deg, deltaT: 4.417860 s, approachRate: -0.760551 m/s, LOS rate: 0.109348 deg/s, posRepo size: 4
2021-08-15T01:05:17.695Z,1628989517.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.699997 m,
      bearing: 268.432691 deg,
      approachRate: -0.760551 m/s,
      LOS rate: 0.109348 deg/s,
      cmd update: 0.437393 deg/s,
      cmd heading: 253.631845 deg,
      new cmd heading: 253.422550 deg.

2021-08-15T01:05:20.078Z,1628989520.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:05:20.449Z,1628989520.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:05:20.449Z,1628989520.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:05:20.449Z,1628989520.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:05:20.450Z,1628989520.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:05:20.862Z,1628989520.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,006EA,186,80,80,94,FF
2021-08-15T01:05:20.862Z,1628989520.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:05:20.863Z,1628989520.863 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:05:20.869Z,1628989520.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:05:21.273Z,1628989521.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:05:21.669Z,1628989521.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,006B1,187,80,80,8B,FF
2021-08-15T01:05:21.670Z,1628989521.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:05:22.109Z,1628989522.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010522.12*59

2021-08-15T01:05:22.164Z,1628989522.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.280006 m, bearing: 268.379224 deg, deltaT: 4.439735 s, approachRate: -0.770314 m/s, LOS rate: -0.012043 deg/s, posRepo size: 4
2021-08-15T01:05:22.166Z,1628989522.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.280006 m,
      bearing: 268.379224 deg,
      approachRate: -0.770314 m/s,
      LOS rate: -0.012043 deg/s,
      cmd update: -0.048171 deg/s,
      cmd heading: 255.573712 deg,
      new cmd heading: 255.762590 deg.

2021-08-15T01:05:24.597Z,1628989524.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:05:24.969Z,1628989524.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:05:24.969Z,1628989524.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:05:24.969Z,1628989524.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:05:24.969Z,1628989524.969 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:05:25.313Z,1628989525.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,006B1,187,80,80,8B,FF
2021-08-15T01:05:25.313Z,1628989525.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:05:25.313Z,1628989525.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:05:25.315Z,1628989525.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:05:25.733Z,1628989525.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:05:26.113Z,1628989526.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,0067D,186,80,80,99,FF
2021-08-15T01:05:26.114Z,1628989526.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:05:26.550Z,1628989526.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010526.57*5C

2021-08-15T01:05:26.572Z,1628989526.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.160004 m, bearing: 269.281383 deg, deltaT: 4.469395 s, approachRate: -0.698082 m/s, LOS rate: 0.201853 deg/s, posRepo size: 4
2021-08-15T01:05:26.574Z,1628989526.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.160004 m,
      bearing: 269.281383 deg,
      approachRate: -0.698082 m/s,
      LOS rate: 0.201853 deg/s,
      cmd update: 0.807410 deg/s,
      cmd heading: 255.358626 deg,
      new cmd heading: 255.339406 deg.

2021-08-15T01:05:29.018Z,1628989529.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:05:29.341Z,1628989529.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:05:29.341Z,1628989529.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:05:29.341Z,1628989529.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:05:29.342Z,1628989529.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:05:29.745Z,1628989529.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,0067D,186,80,80,99,FF
2021-08-15T01:05:29.745Z,1628989529.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:05:29.745Z,1628989529.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:05:29.747Z,1628989529.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:05:30.164Z,1628989530.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:05:30.550Z,1628989530.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F50,000,00645,186,80,80,70,FF
2021-08-15T01:05:30.550Z,1628989530.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:05:31.001Z,1628989531.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010530.99*59

2021-08-15T01:05:31.074Z,1628989531.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.799999 m, bearing: 269.902356 deg, deltaT: 4.417228 s, approachRate: -0.760659 m/s, LOS rate: 0.140580 deg/s, posRepo size: 4
2021-08-15T01:05:31.077Z,1628989531.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.799999 m,
      bearing: 269.902356 deg,
      approachRate: -0.760659 m/s,
      LOS rate: 0.140580 deg/s,
      cmd update: 0.562320 deg/s,
      cmd heading: 258.930130 deg,
      new cmd heading: 259.316237 deg.

2021-08-15T01:05:33.399Z,1628989533.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:05:33.781Z,1628989533.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:05:33.781Z,1628989533.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:05:33.781Z,1628989533.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:05:33.782Z,1628989533.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:05:34.198Z,1628989534.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F50,000,00645,186,80,80,70,FF
2021-08-15T01:05:34.198Z,1628989534.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:05:34.198Z,1628989534.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:05:34.201Z,1628989534.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:05:34.612Z,1628989534.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:05:35.029Z,1628989535.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,00615,185,80,80,A3,FF
2021-08-15T01:05:35.030Z,1628989535.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:05:35.033Z,1628989535.033 [Micromodem](INFO): Nmea in: $SNTTA,0.046767,0.280701,,,010535.45*55

2021-08-15T01:05:35.452Z,1628989535.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.920002 m, bearing: 266.413851 deg, deltaT: 4.534479 s, approachRate: -0.635133 m/s, LOS rate: -0.769329 deg/s, posRepo size: 4
2021-08-15T01:05:35.454Z,1628989535.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.920002 m,
      bearing: 266.413851 deg,
      approachRate: -0.635133 m/s,
      LOS rate: -0.769329 deg/s,
      cmd update: -3.077315 deg/s,
      cmd heading: 261.476629 deg,
      new cmd heading: 261.660496 deg.

2021-08-15T01:05:37.913Z,1628989537.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:05:38.314Z,1628989538.314 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:05:38.314Z,1628989538.314 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:05:38.314Z,1628989538.314 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:05:38.315Z,1628989538.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:05:38.660Z,1628989538.660 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,00615,185,80,80,A3,FF
2021-08-15T01:05:38.661Z,1628989538.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:05:38.661Z,1628989538.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:05:38.674Z,1628989538.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:05:39.056Z,1628989539.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:05:39.453Z,1628989539.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,005D8,186,80,80,9D,FF
2021-08-15T01:05:39.454Z,1628989539.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:05:39.885Z,1628989539.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010539.92*5B

2021-08-15T01:05:39.938Z,1628989539.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.260002 m, bearing: 268.463290 deg, deltaT: 4.337487 s, approachRate: -0.843807 m/s, LOS rate: 0.472495 deg/s, posRepo size: 4
2021-08-15T01:05:39.947Z,1628989539.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.260002 m,
      bearing: 268.463290 deg,
      approachRate: -0.843807 m/s,
      LOS rate: 0.472495 deg/s,
      cmd update: 1.889978 deg/s,
      cmd heading: 248.103491 deg,
      new cmd heading: 246.664745 deg.

2021-08-15T01:05:42.287Z,1628989542.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:05:42.721Z,1628989542.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:05:42.721Z,1628989542.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:05:42.721Z,1628989542.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:05:42.722Z,1628989542.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:05:43.077Z,1628989543.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,005D8,186,80,80,9D,FF
2021-08-15T01:05:43.077Z,1628989543.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:05:43.077Z,1628989543.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:05:43.079Z,1628989543.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:05:43.493Z,1628989543.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:05:44.322Z,1628989544.322 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010544.33*5A

2021-08-15T01:05:45.133Z,1628989545.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:05:46.733Z,1628989546.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,9D,FF
2021-08-15T01:05:46.733Z,1628989546.733 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,9D,FF
2021-08-15T01:05:46.733Z,1628989546.733 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:05:47.977Z,1628989547.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:05:48.321Z,1628989548.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:05:48.321Z,1628989548.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:05:48.321Z,1628989548.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:05:48.322Z,1628989548.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:05:48.733Z,1628989548.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,9D,FF
2021-08-15T01:05:48.733Z,1628989548.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:05:48.733Z,1628989548.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:05:48.735Z,1628989548.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:05:49.141Z,1628989549.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:05:49.537Z,1628989549.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00560,187,80,80,3B,FF
2021-08-15T01:05:49.537Z,1628989549.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:05:49.985Z,1628989549.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010549.98*56

2021-08-15T01:05:50.039Z,1628989550.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.059998 m, bearing: 271.424150 deg, deltaT: 10.123488 s, approachRate: -0.711218 m/s, LOS rate: 0.292474 deg/s, posRepo size: 4
2021-08-15T01:05:50.042Z,1628989550.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.059998 m,
      bearing: 271.424150 deg,
      approachRate: -0.711218 m/s,
      LOS rate: 0.292474 deg/s,
      cmd update: 1.169897 deg/s,
      cmd heading: 267.219436 deg,
      new cmd heading: 268.078529 deg.

2021-08-15T01:05:52.436Z,1628989552.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:05:52.787Z,1628989552.787 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:05:52.787Z,1628989552.787 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:05:52.787Z,1628989552.787 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:05:52.788Z,1628989552.788 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:05:53.190Z,1628989553.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00560,187,80,80,3B,FF
2021-08-15T01:05:53.190Z,1628989553.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:05:53.190Z,1628989553.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:05:53.193Z,1628989553.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:05:53.584Z,1628989553.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:05:53.981Z,1628989553.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,0052E,183,80,80,49,FF
2021-08-15T01:05:53.981Z,1628989553.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:05:54.417Z,1628989554.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010554.44*5B

2021-08-15T01:05:54.451Z,1628989554.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.060001 m, bearing: 270.837901 deg, deltaT: 4.438890 s, approachRate: -0.675844 m/s, LOS rate: -0.132071 deg/s, posRepo size: 4
2021-08-15T01:05:54.454Z,1628989554.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.060001 m,
      bearing: 270.837901 deg,
      approachRate: -0.675844 m/s,
      LOS rate: -0.132071 deg/s,
      cmd update: -0.528284 deg/s,
      cmd heading: 272.418217 deg,
      new cmd heading: 272.912628 deg.

2021-08-15T01:05:56.918Z,1628989556.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:05:57.210Z,1628989557.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:05:57.211Z,1628989557.211 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:05:57.211Z,1628989557.211 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:05:57.212Z,1628989557.212 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:05:57.621Z,1628989557.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,0052E,183,80,80,49,FF
2021-08-15T01:05:57.621Z,1628989557.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:05:57.621Z,1628989557.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:05:57.623Z,1628989557.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:05:58.024Z,1628989558.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:05:58.434Z,1628989558.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09A,000,004F7,186,80,80,5E,FF
2021-08-15T01:05:58.434Z,1628989558.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:05:58.890Z,1628989558.890 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010558.87*58

2021-08-15T01:05:58.959Z,1628989558.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.760002 m, bearing: 270.521117 deg, deltaT: 4.418366 s, approachRate: -0.746882 m/s, LOS rate: -0.071697 deg/s, posRepo size: 4
2021-08-15T01:05:58.976Z,1628989558.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.76 m.
2021-08-15T01:05:58.977Z,1628989558.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 38.76 m.
2021-08-15T01:05:58.977Z,1628989558.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T01:05:58.979Z,1628989558.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.760002 m,
      bearing: 270.521117 deg,
      approachRate: -0.746882 m/s,
      LOS rate: -0.071697 deg/s,
      cmd update: -0.286789 deg/s,
      cmd heading: 270.081866 deg,
      new cmd heading: 269.813409 deg.

2021-08-15T01:05:59.317Z,1628989559.317 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T01:05:59.317Z,1628989559.317 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:05:59.318Z,1628989559.318 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T01:05:59.318Z,1628989559.318 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T01:05:59.318Z,1628989559.318 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T01:05:59.319Z,1628989559.319 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T01:05:59.717Z,1628989559.717 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T01:05:59.717Z,1628989559.717 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:05:59.717Z,1628989559.717 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T01:05:59.718Z,1628989559.718 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:06:01.007Z,1628989561.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:06:01.304Z,1628989561.304 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:06:01.304Z,1628989561.304 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:06:01.305Z,1628989561.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:06:01.305Z,1628989561.305 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:06:01.701Z,1628989561.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09A,000,004F7,186,80,80,5E,FF
2021-08-15T01:06:01.701Z,1628989561.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:06:01.701Z,1628989561.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:06:01.703Z,1628989561.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:06:02.113Z,1628989562.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:06:02.962Z,1628989562.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010602.95*57

2021-08-15T01:06:03.786Z,1628989563.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:06:05.034Z,1628989565.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,5E,FF
2021-08-15T01:06:05.034Z,1628989565.034 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,5E,FF
2021-08-15T01:06:05.034Z,1628989565.034 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:06:06.563Z,1628989566.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:06:06.949Z,1628989566.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:06:06.949Z,1628989566.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:06:06.950Z,1628989566.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:06:06.951Z,1628989566.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:06:07.357Z,1628989567.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,5E,FF
2021-08-15T01:06:07.358Z,1628989567.358 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:06:07.360Z,1628989567.360 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:06:07.373Z,1628989567.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:06:07.768Z,1628989567.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:06:08.165Z,1628989568.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,0047F,183,80,80,7B,FF
2021-08-15T01:06:08.165Z,1628989568.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:06:08.231Z,1628989568.231 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:06:08.593Z,1628989568.593 [Micromodem](INFO): Nmea in: $SNTTA,0.044883,,,,010608.62*48

2021-08-15T01:06:08.689Z,1628989568.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.559998 m, bearing: 271.619739 deg, deltaT: 9.777112 s, approachRate: -0.736414 m/s, LOS rate: 0.112367 deg/s, posRepo size: 4
2021-08-15T01:06:08.691Z,1628989568.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.559998 m,
      bearing: 271.619739 deg,
      approachRate: -0.736414 m/s,
      LOS rate: 0.112367 deg/s,
      cmd update: 0.449467 deg/s,
      cmd heading: 267.279135 deg,
      new cmd heading: 267.146921 deg.

2021-08-15T01:06:11.061Z,1628989571.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:06:11.401Z,1628989571.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:06:11.401Z,1628989571.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:06:11.402Z,1628989571.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:06:11.403Z,1628989571.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:06:11.797Z,1628989571.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,0047F,183,80,80,7B,FF
2021-08-15T01:06:11.797Z,1628989571.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:06:11.797Z,1628989571.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:06:11.799Z,1628989571.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:06:12.211Z,1628989572.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:06:12.605Z,1628989572.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,00446,182,80,80,71,FF
2021-08-15T01:06:12.605Z,1628989572.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:06:12.698Z,1628989572.698 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:06:13.057Z,1628989573.057 [Micromodem](INFO): Nmea in: $SNTTA,0.034415,,,,010613.05*47

2021-08-15T01:06:13.062Z,1628989573.062 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:06:13.113Z,1628989573.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.140001 m, bearing: 270.837081 deg, deltaT: 4.466951 s, approachRate: -0.765622 m/s, LOS rate: -0.175211 deg/s, posRepo size: 4
2021-08-15T01:06:13.115Z,1628989573.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.140001 m,
      bearing: 270.837081 deg,
      approachRate: -0.765622 m/s,
      LOS rate: -0.175211 deg/s,
      cmd update: -0.700843 deg/s,
      cmd heading: 269.287453 deg,
      new cmd heading: 269.476777 deg.

2021-08-15T01:06:15.469Z,1628989575.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:06:15.838Z,1628989575.838 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:06:15.839Z,1628989575.839 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:06:15.839Z,1628989575.839 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:06:15.840Z,1628989575.840 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:06:16.253Z,1628989576.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,00446,182,80,80,71,FF
2021-08-15T01:06:16.253Z,1628989576.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:06:16.253Z,1628989576.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:06:16.255Z,1628989576.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:06:16.689Z,1628989576.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:06:17.065Z,1628989577.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,0040F,185,80,80,5D,FF
2021-08-15T01:06:17.066Z,1628989577.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:06:17.118Z,1628989577.118 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:06:17.565Z,1628989577.565 [Micromodem](INFO): Nmea in: $SNTTA,0.041727,,,,010617.51*42

2021-08-15T01:06:17.587Z,1628989577.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.840002 m, bearing: 269.945960 deg, deltaT: 4.419898 s, approachRate: -0.746623 m/s, LOS rate: -0.201616 deg/s, posRepo size: 4
2021-08-15T01:06:17.590Z,1628989577.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.840002 m,
      bearing: 269.945960 deg,
      approachRate: -0.746623 m/s,
      LOS rate: -0.201616 deg/s,
      cmd update: -0.806463 deg/s,
      cmd heading: 266.187860 deg,
      new cmd heading: 265.856665 deg.

2021-08-15T01:06:19.925Z,1628989579.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:06:20.293Z,1628989580.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:06:20.293Z,1628989580.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:06:20.293Z,1628989580.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:06:20.294Z,1628989580.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:06:20.729Z,1628989580.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,0040F,185,80,80,5D,FF
2021-08-15T01:06:20.729Z,1628989580.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:06:20.729Z,1628989580.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:06:20.731Z,1628989580.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:06:21.128Z,1628989581.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:06:21.506Z,1628989581.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,003D8,183,80,80,65,FF
2021-08-15T01:06:21.506Z,1628989581.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:06:21.558Z,1628989581.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:06:21.950Z,1628989581.950 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010621.98*5B

2021-08-15T01:06:21.976Z,1628989581.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.540003 m, bearing: 270.395113 deg, deltaT: 4.439915 s, approachRate: -0.743257 m/s, LOS rate: 0.101163 deg/s, posRepo size: 4
2021-08-15T01:06:21.978Z,1628989581.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.540003 m,
      bearing: 270.395113 deg,
      approachRate: -0.743257 m/s,
      LOS rate: 0.101163 deg/s,
      cmd update: 0.404650 deg/s,
      cmd heading: 262.607236 deg,
      new cmd heading: 262.267431 deg.

2021-08-15T01:06:24.363Z,1628989584.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:06:24.737Z,1628989584.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:06:24.737Z,1628989584.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:06:24.738Z,1628989584.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:06:24.739Z,1628989584.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:06:25.161Z,1628989585.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,003D8,183,80,80,65,FF
2021-08-15T01:06:25.161Z,1628989585.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:06:25.161Z,1628989585.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:06:25.163Z,1628989585.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:06:25.560Z,1628989585.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:06:25.973Z,1628989585.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,003A3,184,80,80,55,FF
2021-08-15T01:06:25.974Z,1628989585.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:06:26.033Z,1628989586.033 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:06:26.397Z,1628989586.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010626.41*58

2021-08-15T01:06:26.433Z,1628989586.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.359997 m, bearing: 270.714630 deg, deltaT: 4.474695 s, approachRate: -0.710664 m/s, LOS rate: 0.071405 deg/s, posRepo size: 4
2021-08-15T01:06:26.435Z,1628989586.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 270.714630 deg,
      approachRate: -0.710664 m/s,
      LOS rate: 0.071405 deg/s,
      cmd update: 0.285621 deg/s,
      cmd heading: 264.416282 deg,
      new cmd heading: 264.580941 deg.

2021-08-15T01:06:28.862Z,1628989588.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:06:29.206Z,1628989589.206 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:06:29.206Z,1628989589.206 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:06:29.206Z,1628989589.206 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:06:29.207Z,1628989589.207 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:06:29.225Z,1628989589.225 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:06:29.602Z,1628989589.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,003A3,184,80,80,55,FF
2021-08-15T01:06:29.602Z,1628989589.602 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:06:29.602Z,1628989589.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:06:29.604Z,1628989589.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:06:30.062Z,1628989590.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:06:30.465Z,1628989590.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,0036C,184,80,80,70,FF
2021-08-15T01:06:30.466Z,1628989590.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:06:30.523Z,1628989590.523 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:06:30.887Z,1628989590.887 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010630.86*54

2021-08-15T01:06:30.957Z,1628989590.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.059998 m, bearing: 270.999694 deg, deltaT: 4.490492 s, approachRate: -0.734886 m/s, LOS rate: 0.063482 deg/s, posRepo size: 4
2021-08-15T01:06:30.959Z,1628989590.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.059998 m,
      bearing: 270.999694 deg,
      approachRate: -0.734886 m/s,
      LOS rate: 0.063482 deg/s,
      cmd update: 0.253927 deg/s,
      cmd heading: 265.690854 deg,
      new cmd heading: 265.824752 deg.

2021-08-15T01:06:33.279Z,1628989593.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:06:33.633Z,1628989593.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:06:33.633Z,1628989593.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:06:33.633Z,1628989593.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:06:33.634Z,1628989593.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:06:34.038Z,1628989594.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,0036C,184,80,80,70,FF
2021-08-15T01:06:34.038Z,1628989594.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:06:34.038Z,1628989594.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:06:34.042Z,1628989594.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:06:34.448Z,1628989594.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:06:34.873Z,1628989594.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00342,185,80,80,97,FF
2021-08-15T01:06:34.874Z,1628989594.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:06:34.975Z,1628989594.975 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:06:35.293Z,1628989595.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010635.30*5C

2021-08-15T01:06:35.315Z,1628989595.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.540001 m, bearing: 270.043331 deg, deltaT: 4.451791 s, approachRate: -0.566064 m/s, LOS rate: -0.214827 deg/s, posRepo size: 4
2021-08-15T01:06:35.317Z,1628989595.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 270.043331 deg,
      approachRate: -0.566064 m/s,
      LOS rate: -0.214827 deg/s,
      cmd update: -0.859306 deg/s,
      cmd heading: 266.829337 deg,
      new cmd heading: 266.916632 deg.

2021-08-15T01:06:37.710Z,1628989597.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:06:38.092Z,1628989598.092 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:06:38.092Z,1628989598.092 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:06:38.092Z,1628989598.092 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:06:38.093Z,1628989598.093 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:06:38.485Z,1628989598.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00342,185,80,80,97,FF
2021-08-15T01:06:38.485Z,1628989598.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:06:38.485Z,1628989598.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:06:38.487Z,1628989598.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:06:38.935Z,1628989598.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:06:39.293Z,1628989599.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,00307,185,80,80,7D,FF
2021-08-15T01:06:39.294Z,1628989599.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:06:39.443Z,1628989599.443 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:06:39.742Z,1628989599.742 [Micromodem](INFO): Nmea in: $SNTTA,0.008279,,,,010639.74*4A

2021-08-15T01:06:39.775Z,1628989599.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.999999 m, bearing: 271.450405 deg, deltaT: 4.467764 s, approachRate: -0.792343 m/s, LOS rate: 0.314939 deg/s, posRepo size: 4
2021-08-15T01:06:39.788Z,1628989599.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 271.450405 deg,
      approachRate: -0.792343 m/s,
      LOS rate: 0.314939 deg/s,
      cmd update: 1.259756 deg/s,
      cmd heading: 262.989812 deg,
      new cmd heading: 262.701760 deg.

2021-08-15T01:06:40.137Z,1628989600.137 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T01:06:42.229Z,1628989602.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:06:42.529Z,1628989602.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:06:42.529Z,1628989602.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:06:42.529Z,1628989602.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:06:42.530Z,1628989602.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:06:42.933Z,1628989602.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,00307,185,80,80,7D,FF
2021-08-15T01:06:42.933Z,1628989602.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:06:42.933Z,1628989602.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:06:42.935Z,1628989602.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:06:43.344Z,1628989603.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:06:43.817Z,1628989603.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,002ED,186,80,80,AD,FF
2021-08-15T01:06:43.817Z,1628989603.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:06:43.878Z,1628989603.878 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:06:44.202Z,1628989604.202 [Micromodem](INFO): Nmea in: $SNTTA,0.029332,,,,010644.18*47

2021-08-15T01:06:44.249Z,1628989604.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.440001 m, bearing: 275.364131 deg, deltaT: 4.448754 s, approachRate: -0.350660 m/s, LOS rate: 0.879735 deg/s, posRepo size: 4
2021-08-15T01:06:44.251Z,1628989604.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.440001 m,
      bearing: 275.364131 deg,
      approachRate: -0.350660 m/s,
      LOS rate: 0.879735 deg/s,
      cmd update: 3.518941 deg/s,
      cmd heading: 268.538168 deg,
      new cmd heading: 269.048503 deg.

2021-08-15T01:06:46.596Z,1628989606.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:06:46.965Z,1628989606.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:06:46.965Z,1628989606.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:06:46.965Z,1628989606.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:06:46.966Z,1628989606.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:06:47.369Z,1628989607.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,002ED,186,80,80,AD,FF
2021-08-15T01:06:47.369Z,1628989607.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:06:47.369Z,1628989607.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:06:47.371Z,1628989607.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:06:47.781Z,1628989607.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:06:48.181Z,1628989608.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,002B9,187,80,80,51,FF
2021-08-15T01:06:48.182Z,1628989608.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:06:48.261Z,1628989608.261 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:06:48.638Z,1628989608.638 [Micromodem](INFO): Nmea in: $SNTTA,0.054810,,,,010648.62*47

2021-08-15T01:06:48.714Z,1628989608.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.319999 m, bearing: 280.108845 deg, deltaT: 4.369517 s, approachRate: -0.714038 m/s, LOS rate: 1.085867 deg/s, posRepo size: 4
2021-08-15T01:06:48.720Z,1628989608.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 280.108845 deg,
      approachRate: -0.714038 m/s,
      LOS rate: 1.085867 deg/s,
      cmd update: 4.343468 deg/s,
      cmd heading: 284.042442 deg,
      new cmd heading: 285.674503 deg.

2021-08-15T01:06:51.093Z,1628989611.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:06:51.414Z,1628989611.414 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:06:51.414Z,1628989611.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:06:51.414Z,1628989611.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:06:51.415Z,1628989611.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:06:51.824Z,1628989611.824 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,002B9,187,80,80,51,FF
2021-08-15T01:06:51.824Z,1628989611.824 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:06:51.825Z,1628989611.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:06:51.829Z,1628989611.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:06:52.237Z,1628989612.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:06:52.624Z,1628989612.624 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,002BE,184,80,80,CF,FF
2021-08-15T01:06:52.626Z,1628989612.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:06:52.726Z,1628989612.726 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:06:53.053Z,1628989613.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010653.08*57

2021-08-15T01:06:53.120Z,1628989613.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 294.102809 deg, deltaT: 4.464682 s, approachRate: 0.067194 m/s, LOS rate: 3.134370 deg/s, posRepo size: 4
2021-08-15T01:06:53.122Z,1628989613.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 294.102809 deg,
      approachRate: 0.067194 m/s,
      LOS rate: 3.134370 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 303.406290 deg,
      new cmd heading: 305.195981 deg.

2021-08-15T01:06:55.471Z,1628989615.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:06:55.872Z,1628989615.872 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:06:55.873Z,1628989615.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:06:55.873Z,1628989615.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:06:55.875Z,1628989615.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:06:56.261Z,1628989616.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,002BE,184,80,80,CF,FF
2021-08-15T01:06:56.261Z,1628989616.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:06:56.261Z,1628989616.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:06:56.263Z,1628989616.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:06:56.720Z,1628989616.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:06:57.133Z,1628989617.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,002DD,186,80,80,7C,FF
2021-08-15T01:06:57.133Z,1628989617.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:06:57.168Z,1628989617.168 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:06:57.529Z,1628989617.529 [Micromodem](INFO): Nmea in: $SNTTA,0.477479,,,,010657.51*4F

2021-08-15T01:06:57.573Z,1628989617.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.479999 m, bearing: 319.840000 deg, deltaT: 4.442781 s, approachRate: 0.418657 m/s, LOS rate: 5.793036 deg/s, posRepo size: 4
2021-08-15T01:06:57.575Z,1628989617.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.479999 m,
      bearing: 319.840000 deg,
      approachRate: 0.418657 m/s,
      LOS rate: 5.793036 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 356.830003 deg,
      new cmd heading: 1.716667 deg.

2021-08-15T01:06:59.981Z,1628989619.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:07:00.301Z,1628989620.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:07:00.301Z,1628989620.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:07:00.301Z,1628989620.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:07:00.302Z,1628989620.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:07:00.753Z,1628989620.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,002DD,186,80,80,7C,FF
2021-08-15T01:07:00.753Z,1628989620.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:07:00.753Z,1628989620.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:07:00.755Z,1628989620.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:07:01.203Z,1628989621.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:07:01.593Z,1628989621.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,00312,187,80,80,53,FF
2021-08-15T01:07:01.594Z,1628989621.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:07:01.619Z,1628989621.619 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:07:02.047Z,1628989622.047 [Micromodem](INFO): Nmea in: $SNTTA,0.020854,,,,010702.04*4B

2021-08-15T01:07:02.073Z,1628989622.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.660001 m, bearing: 339.789316 deg, deltaT: 4.453388 s, approachRate: 0.714063 m/s, LOS rate: 4.479582 deg/s, posRepo size: 4
2021-08-15T01:07:02.075Z,1628989622.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.660001 m,
      bearing: 339.789316 deg,
      approachRate: 0.714063 m/s,
      LOS rate: 4.479582 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 50.231877 deg,
      new cmd heading: 55.781889 deg.

2021-08-15T01:07:04.446Z,1628989624.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:07:04.833Z,1628989624.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:07:04.833Z,1628989624.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:07:04.833Z,1628989624.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:07:04.834Z,1628989624.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:07:05.241Z,1628989625.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,00312,187,80,80,53,FF
2021-08-15T01:07:05.241Z,1628989625.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:07:05.241Z,1628989625.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:07:05.243Z,1628989625.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:07:05.636Z,1628989625.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:07:06.046Z,1628989626.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,0033B,187,80,80,8A,FF
2021-08-15T01:07:06.046Z,1628989626.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:07:06.078Z,1628989626.078 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:07:06.487Z,1628989626.487 [Micromodem](INFO): Nmea in: $SNTTA,0.009999,,,,010706.49*4D

2021-08-15T01:07:06.551Z,1628989626.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.120000 m, bearing: 15.971235 deg, deltaT: 4.456549 s, approachRate: 0.551996 m/s, LOS rate: 8.118817 deg/s, posRepo size: 4
2021-08-15T01:07:06.559Z,1628989626.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.120000 m,
      bearing: 15.971235 deg,
      approachRate: 0.551996 m/s,
      LOS rate: 8.118817 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 103.813450 deg,
      new cmd heading: 109.520914 deg.

2021-08-15T01:07:08.983Z,1628989628.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:07:09.273Z,1628989629.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:07:09.273Z,1628989629.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:07:09.273Z,1628989629.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:07:09.274Z,1628989629.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:07:09.673Z,1628989629.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,0033B,187,80,80,8A,FF
2021-08-15T01:07:09.673Z,1628989629.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:07:09.673Z,1628989629.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:07:09.675Z,1628989629.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:07:10.089Z,1628989630.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:07:10.655Z,1628989630.655 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,00352,186,80,80,89,FF
2021-08-15T01:07:10.660Z,1628989630.660 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:07:10.751Z,1628989630.751 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:07:10.969Z,1628989630.969 [Micromodem](INFO): Nmea in: $SNTTA,0.041130,,,,010710.92*4B

2021-08-15T01:07:11.012Z,1628989631.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 26.148206 deg, deltaT: 4.677443 s, approachRate: 0.295033 m/s, LOS rate: 2.175755 deg/s, posRepo size: 4
2021-08-15T01:07:11.013Z,1628989631.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.50 m. Rolling out.
2021-08-15T01:07:11.013Z,1628989631.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T01:07:13.422Z,1628989633.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:07:13.773Z,1628989633.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:07:13.773Z,1628989633.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:07:13.773Z,1628989633.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:07:13.774Z,1628989633.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:07:14.190Z,1628989634.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,00352,186,80,80,89,FF
2021-08-15T01:07:14.190Z,1628989634.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:07:14.191Z,1628989634.191 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:07:14.193Z,1628989634.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:07:14.581Z,1628989634.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:07:14.982Z,1628989634.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,0036E,187,80,80,A8,FF
2021-08-15T01:07:14.982Z,1628989634.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:07:15.081Z,1628989635.081 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:07:15.426Z,1628989635.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010715.44*5C

2021-08-15T01:07:15.458Z,1628989635.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.179998 m, bearing: 54.256175 deg, deltaT: 4.325283 s, approachRate: 0.388413 m/s, LOS rate: 6.498527 deg/s, posRepo size: 4
2021-08-15T01:07:17.844Z,1628989637.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:07:18.214Z,1628989638.214 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:07:18.214Z,1628989638.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:07:18.215Z,1628989638.215 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:07:18.216Z,1628989638.216 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:07:18.622Z,1628989638.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,0036E,187,80,80,A8,FF
2021-08-15T01:07:18.622Z,1628989638.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:07:18.623Z,1628989638.623 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:07:18.633Z,1628989638.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:07:19.040Z,1628989639.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:07:19.426Z,1628989639.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00385,186,80,80,94,FF
2021-08-15T01:07:19.426Z,1628989639.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:07:19.496Z,1628989639.496 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:07:19.881Z,1628989639.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010719.88*50

2021-08-15T01:07:19.941Z,1628989639.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.559999 m, bearing: 66.848332 deg, deltaT: 4.415480 s, approachRate: 0.312537 m/s, LOS rate: 2.851821 deg/s, posRepo size: 4
2021-08-15T01:07:22.314Z,1628989642.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:07:22.696Z,1628989642.696 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:07:22.697Z,1628989642.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:07:22.697Z,1628989642.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:07:22.698Z,1628989642.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:07:23.142Z,1628989643.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00385,186,80,80,94,FF
2021-08-15T01:07:23.142Z,1628989643.142 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:07:23.142Z,1628989643.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:07:23.144Z,1628989643.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:07:23.477Z,1628989643.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:07:23.961Z,1628989643.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,00396,186,80,80,64,FF
2021-08-15T01:07:23.962Z,1628989643.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:07:23.997Z,1628989643.997 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:07:24.393Z,1628989644.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010724.39*54

2021-08-15T01:07:24.440Z,1628989644.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.580000 m, bearing: 84.998637 deg, deltaT: 4.500813 s, approachRate: 0.226626 m/s, LOS rate: 4.032673 deg/s, posRepo size: 4
2021-08-15T01:07:26.781Z,1628989646.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:07:27.109Z,1628989647.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:07:27.109Z,1628989647.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:07:27.110Z,1628989647.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:07:27.111Z,1628989647.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:07:27.521Z,1628989647.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,00396,186,80,80,64,FF
2021-08-15T01:07:27.521Z,1628989647.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:07:27.521Z,1628989647.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:07:27.523Z,1628989647.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:07:27.940Z,1628989647.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:07:28.326Z,1628989648.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003A1,189,80,80,94,FF
2021-08-15T01:07:28.326Z,1628989648.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:07:28.346Z,1628989648.346 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:07:28.750Z,1628989648.750 [Micromodem](INFO): Nmea in: $SNTTA,0.033798,0.462485,,,010728.77*5D

2021-08-15T01:07:28.804Z,1628989648.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 139.160446 deg, deltaT: 4.349033 s, approachRate: 0.151758 m/s, LOS rate: 12.453759 deg/s, posRepo size: 4
2021-08-15T01:07:29.541Z,1628989649.541 [PowerOnly](INFO): Powering down loadControl
2021-08-15T01:07:31.178Z,1628989651.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:07:31.545Z,1628989651.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:07:31.545Z,1628989651.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:07:31.545Z,1628989651.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:07:31.546Z,1628989651.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:07:31.962Z,1628989651.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003A1,189,80,80,94,FF
2021-08-15T01:07:31.962Z,1628989651.962 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:07:31.962Z,1628989651.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:07:31.963Z,1628989651.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:07:32.372Z,1628989652.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:07:32.790Z,1628989652.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D64,000,003AF,189,80,80,A9,FF
2021-08-15T01:07:32.790Z,1628989652.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:07:32.794Z,1628989652.794 [Micromodem](INFO): Nmea in: $SNTTA,0.281639,0.280696,,,010733.21*5F

2021-08-15T01:07:32.896Z,1628989652.896 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:07:33.234Z,1628989653.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 123.279232 deg, deltaT: 4.549922 s, approachRate: 0.184618 m/s, LOS rate: -3.490437 deg/s, posRepo size: 4
2021-08-15T01:07:35.627Z,1628989655.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:07:35.989Z,1628989655.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:07:35.989Z,1628989655.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:07:35.989Z,1628989655.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:07:35.990Z,1628989655.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:07:36.398Z,1628989656.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D64,000,003AF,189,80,80,A9,FF
2021-08-15T01:07:36.398Z,1628989656.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:07:36.398Z,1628989656.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:07:36.400Z,1628989656.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:07:36.805Z,1628989656.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:07:37.293Z,1628989657.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D17,000,0039F,188,80,80,8C,FF
2021-08-15T01:07:37.294Z,1628989657.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:07:37.313Z,1628989657.313 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:07:37.669Z,1628989657.669 [Micromodem](INFO): Nmea in: $SNTTA,0.028641,,,,010737.65*48

2021-08-15T01:07:37.704Z,1628989657.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.120001 m, bearing: 145.032373 deg, deltaT: 4.417007 s, approachRate: -0.217341 m/s, LOS rate: 4.924860 deg/s, posRepo size: 4
2021-08-15T01:07:40.077Z,1628989660.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:07:40.433Z,1628989660.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:07:40.433Z,1628989660.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:07:40.433Z,1628989660.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:07:40.434Z,1628989660.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:07:40.837Z,1628989660.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D17,000,0039F,188,80,80,8C,FF
2021-08-15T01:07:40.838Z,1628989660.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:07:40.838Z,1628989660.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:07:40.839Z,1628989660.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:07:41.264Z,1628989661.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:07:41.645Z,1628989661.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00393,18A,80,80,9E,FF
2021-08-15T01:07:41.646Z,1628989661.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:07:41.665Z,1628989661.665 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:07:42.094Z,1628989662.094 [Micromodem](INFO): Nmea in: $SNTTA,0.054379,,,,010742.09*45

2021-08-15T01:07:42.127Z,1628989662.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 192.079222 deg, deltaT: 4.351822 s, approachRate: -0.165448 m/s, LOS rate: 10.810840 deg/s, posRepo size: 4
2021-08-15T01:07:44.507Z,1628989664.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:07:44.903Z,1628989664.903 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:07:44.903Z,1628989664.903 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:07:44.903Z,1628989664.903 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:07:44.906Z,1628989664.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:07:45.281Z,1628989665.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00393,18A,80,80,9E,FF
2021-08-15T01:07:45.281Z,1628989665.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:07:45.281Z,1628989665.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:07:45.283Z,1628989665.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:07:45.688Z,1628989665.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:07:46.097Z,1628989666.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C9C,000,0037F,189,80,80,9B,FF
2021-08-15T01:07:46.098Z,1628989666.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:07:46.148Z,1628989666.148 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:07:46.534Z,1628989666.534 [Micromodem](INFO): Nmea in: $SNTTA,0.010491,,,,010746.53*4F

2021-08-15T01:07:46.549Z,1628989666.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.199997 m, bearing: 189.768979 deg, deltaT: 4.482958 s, approachRate: -0.267681 m/s, LOS rate: -0.515339 deg/s, posRepo size: 4
2021-08-15T01:07:49.018Z,1628989669.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:07:49.325Z,1628989669.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:07:49.325Z,1628989669.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:07:49.325Z,1628989669.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:07:49.326Z,1628989669.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:07:49.725Z,1628989669.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C9C,000,0037F,189,80,80,9B,FF
2021-08-15T01:07:49.725Z,1628989669.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:07:49.725Z,1628989669.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:07:49.727Z,1628989669.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:07:50.147Z,1628989670.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:07:50.619Z,1628989670.619 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE0,000,00364,189,80,80,82,FF
2021-08-15T01:07:50.620Z,1628989670.620 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:07:50.719Z,1628989670.719 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:07:50.981Z,1628989670.981 [Micromodem](INFO): Nmea in: $SNTTA,0.027455,0.398252,,,010750.98*5A

2021-08-15T01:07:51.052Z,1628989671.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.579999 m, bearing: 203.228331 deg, deltaT: 4.575838 s, approachRate: -0.354033 m/s, LOS rate: 2.941396 deg/s, posRepo size: 4
2021-08-15T01:07:53.411Z,1628989673.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:07:53.773Z,1628989673.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:07:53.773Z,1628989673.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:07:53.774Z,1628989673.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:07:53.775Z,1628989673.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:07:54.181Z,1628989674.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE0,000,00364,189,80,80,82,FF
2021-08-15T01:07:54.182Z,1628989674.182 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:07:54.182Z,1628989674.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:07:54.185Z,1628989674.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:07:54.589Z,1628989674.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:07:54.985Z,1628989674.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB9,000,00344,189,80,80,92,FF
2021-08-15T01:07:54.986Z,1628989674.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:07:55.072Z,1628989675.072 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:07:55.433Z,1628989675.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010755.44*58

2021-08-15T01:07:55.479Z,1628989675.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.660002 m, bearing: 209.690974 deg, deltaT: 4.348247 s, approachRate: -0.441557 m/s, LOS rate: 1.486264 deg/s, posRepo size: 4
2021-08-15T01:07:57.842Z,1628989677.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:07:58.229Z,1628989678.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:07:58.229Z,1628989678.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:07:58.230Z,1628989678.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:07:58.231Z,1628989678.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:07:58.629Z,1628989678.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB9,000,00344,189,80,80,92,FF
2021-08-15T01:07:58.629Z,1628989678.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:07:58.630Z,1628989678.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:07:58.635Z,1628989678.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:07:59.028Z,1628989679.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:07:59.433Z,1628989679.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B1E,000,00327,189,80,80,89,FF
2021-08-15T01:07:59.434Z,1628989679.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:07:59.530Z,1628989679.530 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:07:59.868Z,1628989679.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010759.89*55

2021-08-15T01:07:59.921Z,1628989679.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 229.660740 deg, deltaT: 4.457389 s, approachRate: -0.390363 m/s, LOS rate: 4.480149 deg/s, posRepo size: 4
2021-08-15T01:08:02.306Z,1628989682.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:08:02.709Z,1628989682.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:08:02.709Z,1628989682.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:08:02.709Z,1628989682.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:08:02.710Z,1628989682.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:08:03.073Z,1628989683.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B1E,000,00327,189,80,80,89,FF
2021-08-15T01:08:03.073Z,1628989683.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:08:03.074Z,1628989683.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:08:03.075Z,1628989683.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:08:03.485Z,1628989683.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:08:03.982Z,1628989683.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CDE,000,00313,189,80,80,9A,FF
2021-08-15T01:08:03.982Z,1628989683.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:08:04.036Z,1628989684.036 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:08:04.361Z,1628989684.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010804.32*52

2021-08-15T01:08:04.400Z,1628989684.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.719998 m, bearing: 207.415169 deg, deltaT: 4.506718 s, approachRate: -0.266270 m/s, LOS rate: -4.936091 deg/s, posRepo size: 4
2021-08-15T01:08:06.798Z,1628989686.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:08:07.109Z,1628989687.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:08:07.109Z,1628989687.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:08:07.109Z,1628989687.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:08:07.110Z,1628989687.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:08:07.542Z,1628989687.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CDE,000,00313,189,80,80,9A,FF
2021-08-15T01:08:07.542Z,1628989687.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:08:07.542Z,1628989687.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:08:07.543Z,1628989687.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:08:07.950Z,1628989687.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:08:08.325Z,1628989688.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,0031F,186,80,80,70,FF
2021-08-15T01:08:08.326Z,1628989688.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:08:08.350Z,1628989688.350 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:08:08.761Z,1628989688.761 [Micromodem](INFO): Nmea in: $SNTTA,0.491473,0.491842,,,010808.79*5F

2021-08-15T01:08:08.807Z,1628989688.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.439999 m, bearing: 190.534684 deg, deltaT: 4.314057 s, approachRate: 0.166896 m/s, LOS rate: -3.912903 deg/s, posRepo size: 4
2021-08-15T01:08:10.947Z,1628989690.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:08:11.153Z,1628989691.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:08:11.153Z,1628989691.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:08:11.153Z,1628989691.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:08:11.154Z,1628989691.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:08:11.557Z,1628989691.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,0031F,186,80,80,70,FF
2021-08-15T01:08:11.557Z,1628989691.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:08:11.557Z,1628989691.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:08:11.559Z,1628989691.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:08:11.960Z,1628989691.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:08:12.369Z,1628989692.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E16,000,0031B,186,80,80,80,FF
2021-08-15T01:08:12.370Z,1628989692.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:08:12.425Z,1628989692.425 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:08:12.810Z,1628989692.810 [Micromodem](INFO): Nmea in: $SNTTA,0.030293,,,,010812.81*48

2021-08-15T01:08:12.891Z,1628989692.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.200003 m, bearing: 191.921062 deg, deltaT: 4.074366 s, approachRate: -0.058904 m/s, LOS rate: 0.340268 deg/s, posRepo size: 4
2021-08-15T01:08:15.239Z,1628989695.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:08:15.601Z,1628989695.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:08:15.601Z,1628989695.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:08:15.601Z,1628989695.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:08:15.602Z,1628989695.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:08:15.994Z,1628989695.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E16,000,0031B,186,80,80,80,FF
2021-08-15T01:08:15.994Z,1628989695.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:08:15.994Z,1628989695.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:08:15.996Z,1628989695.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:08:16.416Z,1628989696.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:08:16.797Z,1628989696.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,0032E,189,80,80,67,FF
2021-08-15T01:08:16.797Z,1628989696.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:08:16.801Z,1628989696.801 [Micromodem](INFO): Nmea in: $SNTTA,0.046840,0.224208,,,010817.25*56

2021-08-15T01:08:16.915Z,1628989696.915 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:08:17.342Z,1628989697.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.339997 m, bearing: 194.505346 deg, deltaT: 4.490197 s, approachRate: 0.253885 m/s, LOS rate: 0.575539 deg/s, posRepo size: 4
2021-08-15T01:08:19.706Z,1628989699.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:08:20.037Z,1628989700.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:08:20.037Z,1628989700.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:08:20.037Z,1628989700.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:08:20.038Z,1628989700.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:08:20.457Z,1628989700.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,0032E,189,80,80,67,FF
2021-08-15T01:08:20.457Z,1628989700.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:08:20.458Z,1628989700.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:08:20.459Z,1628989700.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:08:20.899Z,1628989700.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:08:21.281Z,1628989701.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,00367,183,80,80,45,FF
2021-08-15T01:08:21.281Z,1628989701.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:08:21.349Z,1628989701.349 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:08:21.710Z,1628989701.710 [Micromodem](INFO): Nmea in: $SNTTA,0.048124,,,,010821.71*47

2021-08-15T01:08:21.731Z,1628989701.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.759997 m, bearing: 167.219847 deg, deltaT: 4.434011 s, approachRate: 0.771311 m/s, LOS rate: -6.153683 deg/s, posRepo size: 4
2021-08-15T01:08:24.138Z,1628989704.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:08:24.529Z,1628989704.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:08:24.530Z,1628989704.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:08:24.530Z,1628989704.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:08:24.531Z,1628989704.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:08:24.933Z,1628989704.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,00367,183,80,80,45,FF
2021-08-15T01:08:24.933Z,1628989704.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:08:24.934Z,1628989704.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:08:24.935Z,1628989704.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:08:25.337Z,1628989705.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:08:25.722Z,1628989705.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,00382,186,80,80,75,FF
2021-08-15T01:08:25.722Z,1628989705.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:08:25.768Z,1628989705.768 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:08:26.165Z,1628989706.165 [Micromodem](INFO): Nmea in: $SNTTA,0.022375,,,,010826.19*44

2021-08-15T01:08:26.202Z,1628989706.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.380001 m, bearing: 188.457323 deg, deltaT: 4.419203 s, approachRate: 0.366583 m/s, LOS rate: 4.805725 deg/s, posRepo size: 4
2021-08-15T01:08:28.614Z,1628989708.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:08:28.953Z,1628989708.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:08:28.953Z,1628989708.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:08:28.953Z,1628989708.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:08:28.954Z,1628989708.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:08:29.369Z,1628989709.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,00382,186,80,80,75,FF
2021-08-15T01:08:29.369Z,1628989709.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:08:29.370Z,1628989709.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:08:29.371Z,1628989709.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:08:29.765Z,1628989709.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:08:30.177Z,1628989710.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,003A0,187,80,80,42,FF
2021-08-15T01:08:30.178Z,1628989710.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:08:30.261Z,1628989710.261 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:08:30.605Z,1628989710.605 [Micromodem](INFO): Nmea in: $SNTTA,0.341940,,,,010830.62*45

2021-08-15T01:08:30.693Z,1628989710.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.179998 m, bearing: 180.196619 deg, deltaT: 4.493420 s, approachRate: 0.400585 m/s, LOS rate: -1.838400 deg/s, posRepo size: 4
2021-08-15T01:08:32.815Z,1628989712.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:08:33.013Z,1628989713.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:08:33.013Z,1628989713.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:08:33.013Z,1628989713.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:08:33.014Z,1628989713.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:08:33.427Z,1628989713.427 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,003A0,187,80,80,42,FF
2021-08-15T01:08:33.427Z,1628989713.427 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:08:33.427Z,1628989713.427 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:08:33.429Z,1628989713.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:08:33.812Z,1628989713.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:08:34.223Z,1628989714.223 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,003C3,184,80,80,44,FF
2021-08-15T01:08:34.224Z,1628989714.224 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:08:34.256Z,1628989714.256 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:08:34.653Z,1628989714.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010834.68*5E

2021-08-15T01:08:34.706Z,1628989714.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 166.626098 deg, deltaT: 3.994675 s, approachRate: 0.525700 m/s, LOS rate: -3.397153 deg/s, posRepo size: 4
2021-08-15T01:08:37.092Z,1628989717.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:08:37.438Z,1628989717.438 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:08:37.438Z,1628989717.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:08:37.438Z,1628989717.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:08:37.439Z,1628989717.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:08:37.852Z,1628989717.852 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,003C3,184,80,80,44,FF
2021-08-15T01:08:37.853Z,1628989717.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:08:37.853Z,1628989717.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:08:37.861Z,1628989717.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:08:38.260Z,1628989718.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:08:38.676Z,1628989718.676 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CED,000,003EE,189,80,80,53,FF
2021-08-15T01:08:38.678Z,1628989718.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:08:38.760Z,1628989718.760 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:08:39.086Z,1628989719.086 [Micromodem](INFO): Nmea in: $SNTTA,,0.291815,,,010839.11*45

2021-08-15T01:08:39.135Z,1628989719.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 205.347028 deg, deltaT: 4.503946 s, approachRate: 0.572831 m/s, LOS rate: 8.597112 deg/s, posRepo size: 4
2021-08-15T01:08:41.526Z,1628989721.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:08:41.912Z,1628989721.912 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:08:41.912Z,1628989721.912 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:08:41.913Z,1628989721.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:08:41.914Z,1628989721.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:08:42.281Z,1628989722.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CED,000,003EE,189,80,80,53,FF
2021-08-15T01:08:42.281Z,1628989722.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:08:42.282Z,1628989722.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:08:42.283Z,1628989722.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:08:42.725Z,1628989722.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:08:43.099Z,1628989723.099 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D77,000,00422,188,80,80,AC,FF
2021-08-15T01:08:43.099Z,1628989723.099 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:08:43.182Z,1628989723.182 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:08:43.534Z,1628989723.534 [Micromodem](INFO): Nmea in: $SNTTA,0.049537,,,,010843.53*44

2021-08-15T01:08:43.568Z,1628989723.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.979996 m, bearing: 198.859127 deg, deltaT: 4.422317 s, approachRate: 0.705511 m/s, LOS rate: -1.467082 deg/s, posRepo size: 4
2021-08-15T01:08:46.033Z,1628989726.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:08:46.337Z,1628989726.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:08:46.337Z,1628989726.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:08:46.337Z,1628989726.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:08:46.338Z,1628989726.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:08:46.753Z,1628989726.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D77,000,00422,188,80,80,AC,FF
2021-08-15T01:08:46.753Z,1628989726.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:08:46.753Z,1628989726.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:08:46.755Z,1628989726.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:08:47.177Z,1628989727.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:08:47.993Z,1628989727.993 [Micromodem](INFO): Nmea in: $SNTTA,0.067157,,,,010848.00*47

2021-08-15T01:08:48.870Z,1628989728.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:08:50.377Z,1628989730.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,188,80,80,AC,FF
2021-08-15T01:08:50.377Z,1628989730.377 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,188,80,80,AC,FF
2021-08-15T01:08:50.378Z,1628989730.378 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:08:51.614Z,1628989731.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:08:51.989Z,1628989731.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:08:51.989Z,1628989731.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:08:51.989Z,1628989731.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:08:51.990Z,1628989731.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:08:52.394Z,1628989732.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,188,80,80,AC,FF
2021-08-15T01:08:52.394Z,1628989732.394 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:08:52.394Z,1628989732.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:08:52.396Z,1628989732.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:08:52.809Z,1628989732.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:08:53.634Z,1628989733.634 [Micromodem](INFO): Nmea in: $SNTTA,0.030854,,,,010853.65*46

2021-08-15T01:08:54.435Z,1628989734.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:08:56.967Z,1628989736.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:08:58.092Z,1628989738.092 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.101833
2021-08-15T01:08:59.719Z,1628989739.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:09:00.085Z,1628989740.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:09:00.085Z,1628989740.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:09:00.085Z,1628989740.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:09:00.086Z,1628989740.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:09:00.497Z,1628989740.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,188,80,80,AC,FF
2021-08-15T01:09:00.497Z,1628989740.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:09:00.498Z,1628989740.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:09:00.499Z,1628989740.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:09:00.905Z,1628989740.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:09:01.285Z,1628989741.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8F,000,004D6,186,80,80,62,FF
2021-08-15T01:09:01.285Z,1628989741.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:09:01.333Z,1628989741.333 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:09:01.730Z,1628989741.730 [Micromodem](INFO): Nmea in: $SNTTA,0.024132,,,,010901.75*4D

2021-08-15T01:09:01.751Z,1628989741.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.779999 m, bearing: 184.094553 deg, deltaT: 18.151006 s, approachRate: 0.595008 m/s, LOS rate: -0.813430 deg/s, posRepo size: 4
2021-08-15T01:09:04.157Z,1628989744.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:09:04.513Z,1628989744.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:09:04.513Z,1628989744.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:09:04.513Z,1628989744.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:09:04.514Z,1628989744.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:09:04.941Z,1628989744.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8F,000,004D6,186,80,80,62,FF
2021-08-15T01:09:04.941Z,1628989744.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:09:04.941Z,1628989744.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:09:04.943Z,1628989744.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:09:05.352Z,1628989745.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:09:05.749Z,1628989745.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,0050A,186,80,80,6A,FF
2021-08-15T01:09:05.749Z,1628989745.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:09:05.822Z,1628989745.822 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:09:06.188Z,1628989746.188 [Micromodem](INFO): Nmea in: $SNTTA,0.229736,,,,010906.19*4D

2021-08-15T01:09:06.225Z,1628989746.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.900002 m, bearing: 181.849470 deg, deltaT: 4.488889 s, approachRate: 0.695050 m/s, LOS rate: -0.500142 deg/s, posRepo size: 4
2021-08-15T01:09:08.610Z,1628989748.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:09:08.977Z,1628989748.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:09:08.977Z,1628989748.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:09:08.977Z,1628989748.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:09:08.978Z,1628989748.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:09:09.379Z,1628989749.379 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,0050A,186,80,80,6A,FF
2021-08-15T01:09:09.379Z,1628989749.379 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:09:09.379Z,1628989749.379 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:09:09.381Z,1628989749.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:09:09.793Z,1628989749.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:09:10.190Z,1628989750.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,0053D,187,80,80,77,FF
2021-08-15T01:09:10.191Z,1628989750.191 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:09:10.258Z,1628989750.258 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:09:10.625Z,1628989750.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010910.63*52

2021-08-15T01:09:10.695Z,1628989750.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.959999 m, bearing: 177.372964 deg, deltaT: 4.441135 s, approachRate: 0.689013 m/s, LOS rate: -1.007964 deg/s, posRepo size: 4
2021-08-15T01:09:11.133Z,1628989751.133 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T01:09:11.134Z,1628989751.134 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:09:11.134Z,1628989751.134 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T01:09:11.134Z,1628989751.134 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T01:09:11.135Z,1628989751.135 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T01:09:11.135Z,1628989751.135 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T01:09:11.453Z,1628989751.453 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T01:09:11.454Z,1628989751.454 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:09:11.454Z,1628989751.454 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T01:09:11.454Z,1628989751.454 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:09:12.771Z,1628989752.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:09:13.021Z,1628989753.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:09:13.021Z,1628989753.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:09:13.021Z,1628989753.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:09:13.022Z,1628989753.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:09:13.421Z,1628989753.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,0053D,187,80,80,77,FF
2021-08-15T01:09:13.422Z,1628989753.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:09:13.422Z,1628989753.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:09:13.423Z,1628989753.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:09:13.833Z,1628989753.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:09:14.225Z,1628989754.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEA,000,00561,186,80,80,3E,FF
2021-08-15T01:09:14.226Z,1628989754.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:09:14.693Z,1628989754.693 [Micromodem](INFO): Nmea in: $SNTTA,0.051574,,,,010914.68*41

2021-08-15T01:09:14.741Z,1628989754.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.119999 m, bearing: 179.504953 deg, deltaT: 4.041603 s, approachRate: 0.534441 m/s, LOS rate: 0.527511 deg/s, posRepo size: 4
2021-08-15T01:09:17.089Z,1628989757.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:09:17.454Z,1628989757.454 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:09:17.454Z,1628989757.454 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:09:17.455Z,1628989757.455 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:09:17.455Z,1628989757.455 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:09:17.865Z,1628989757.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEA,000,00561,186,80,80,3E,FF
2021-08-15T01:09:17.865Z,1628989757.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:09:17.866Z,1628989757.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:09:17.871Z,1628989757.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:09:18.269Z,1628989758.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:09:18.714Z,1628989758.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,00206,186,80,80,71,FF
2021-08-15T01:09:18.714Z,1628989758.714 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-15T01:09:19.105Z,1628989759.105 [Micromodem](INFO): Nmea in: $SNTTA,0.006803,,,,010919.12*4E

2021-08-15T01:09:19.955Z,1628989759.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:09:22.798Z,1628989762.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:09:23.121Z,1628989763.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:09:23.121Z,1628989763.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:09:23.121Z,1628989763.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:09:23.122Z,1628989763.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:09:23.525Z,1628989763.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,00206,186,80,80,71,FF
2021-08-15T01:09:23.525Z,1628989763.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:09:23.526Z,1628989763.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:09:23.527Z,1628989763.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:09:23.945Z,1628989763.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:09:24.397Z,1628989764.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,005D3,186,80,80,69,FF
2021-08-15T01:09:24.398Z,1628989764.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:09:24.798Z,1628989764.798 [Micromodem](INFO): Nmea in: $SNTTA,0.054394,,,,010924.78*4E

2021-08-15T01:09:24.969Z,1628989764.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.959999 m, bearing: 173.232326 deg, deltaT: 10.132037 s, approachRate: 0.675086 m/s, LOS rate: -0.619088 deg/s, posRepo size: 4
2021-08-15T01:09:27.235Z,1628989767.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:09:27.627Z,1628989767.627 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:09:27.627Z,1628989767.627 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:09:27.627Z,1628989767.627 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:09:27.628Z,1628989767.628 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:09:27.990Z,1628989767.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,005D3,186,80,80,69,FF
2021-08-15T01:09:27.990Z,1628989767.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:09:27.990Z,1628989767.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:09:27.991Z,1628989767.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:09:28.392Z,1628989768.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:09:28.797Z,1628989768.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,00604,187,80,80,42,FF
2021-08-15T01:09:28.798Z,1628989768.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:09:28.801Z,1628989768.801 [Micromodem](INFO): Nmea in: $SNTTA,0.056129,0.268101,,,010929.24*5E

2021-08-15T01:09:29.262Z,1628989769.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.900002 m, bearing: 174.295171 deg, deltaT: 4.479392 s, approachRate: 0.656340 m/s, LOS rate: 0.237275 deg/s, posRepo size: 4
2021-08-15T01:09:31.663Z,1628989771.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:09:32.029Z,1628989772.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:09:32.029Z,1628989772.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:09:32.029Z,1628989772.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:09:32.030Z,1628989772.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:09:32.429Z,1628989772.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F52,000,00604,187,80,80,42,FF
2021-08-15T01:09:32.429Z,1628989772.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:09:32.430Z,1628989772.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:09:32.431Z,1628989772.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:09:32.881Z,1628989772.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:09:33.258Z,1628989773.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,00E23,187,80,80,42,FF
2021-08-15T01:09:33.258Z,1628989773.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:09:33.677Z,1628989773.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010933.68*58

2021-08-15T01:09:33.707Z,1628989773.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.639999 m, bearing: 174.635793 deg, deltaT: 4.395709 s, approachRate: 28.377674 m/s, LOS rate: 0.077490 deg/s, posRepo size: 4
2021-08-15T01:09:36.114Z,1628989776.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:09:36.481Z,1628989776.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:09:36.481Z,1628989776.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:09:36.481Z,1628989776.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:09:36.482Z,1628989776.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:09:36.913Z,1628989776.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,00E23,187,80,80,42,FF
2021-08-15T01:09:36.913Z,1628989776.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:09:36.913Z,1628989776.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:09:36.915Z,1628989776.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:09:37.293Z,1628989777.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:09:37.749Z,1628989777.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,003E1,183,80,80,60,FF
2021-08-15T01:09:37.750Z,1628989777.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:09:38.125Z,1628989778.125 [Micromodem](INFO): Nmea in: $SNTTA,0.039748,,,,010938.17*44

2021-08-15T01:09:38.165Z,1628989778.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 164.727770 deg, deltaT: 4.459979 s, approachRate: -35.327518 m/s, LOS rate: -2.221540 deg/s, posRepo size: 4
2021-08-15T01:09:38.549Z,1628989778.549 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T01:09:38.549Z,1628989778.549 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:09:38.550Z,1628989778.550 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T01:09:38.550Z,1628989778.550 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T01:09:38.550Z,1628989778.550 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T01:09:38.550Z,1628989778.550 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T01:09:39.035Z,1628989779.035 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T01:09:39.035Z,1628989779.035 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:09:39.035Z,1628989779.035 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T01:09:39.035Z,1628989779.035 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:09:40.547Z,1628989780.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:09:40.958Z,1628989780.958 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:09:40.958Z,1628989780.958 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:09:40.958Z,1628989780.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:09:40.959Z,1628989780.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:09:41.329Z,1628989781.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,003E1,183,80,80,60,FF
2021-08-15T01:09:41.329Z,1628989781.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:09:41.329Z,1628989781.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:09:41.331Z,1628989781.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:09:41.732Z,1628989781.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:09:42.138Z,1628989782.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,00692,187,80,80,33,FF
2021-08-15T01:09:42.138Z,1628989782.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:09:42.168Z,1628989782.168 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:09:42.573Z,1628989782.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010942.58*5D

2021-08-15T01:09:42.666Z,1628989782.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.420006 m, bearing: 171.773575 deg, deltaT: 4.396015 s, approachRate: 9.403974 m/s, LOS rate: 1.602771 deg/s, posRepo size: 4
2021-08-15T01:09:43.036Z,1628989783.036 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T01:09:43.037Z,1628989783.037 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:09:43.037Z,1628989783.037 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T01:09:43.037Z,1628989783.037 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T01:09:43.038Z,1628989783.038 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T01:09:43.038Z,1628989783.038 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T01:09:43.373Z,1628989783.373 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T01:09:43.373Z,1628989783.373 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:09:43.374Z,1628989783.374 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T01:09:43.374Z,1628989783.374 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:09:45.046Z,1628989785.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:09:45.373Z,1628989785.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:09:45.374Z,1628989785.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:09:45.374Z,1628989785.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:09:45.375Z,1628989785.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:09:45.773Z,1628989785.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,00692,187,80,80,33,FF
2021-08-15T01:09:45.773Z,1628989785.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:09:45.774Z,1628989785.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:09:45.775Z,1628989785.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:09:46.177Z,1628989786.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:09:46.583Z,1628989786.583 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,006C0,182,80,80,A0,FF
2021-08-15T01:09:46.583Z,1628989786.583 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:09:47.029Z,1628989787.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010947.03*56

2021-08-15T01:09:47.087Z,1628989787.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.180000 m, bearing: 164.452131 deg, deltaT: 4.439454 s, approachRate: 0.621697 m/s, LOS rate: -1.649177 deg/s, posRepo size: 4
2021-08-15T01:09:49.428Z,1628989789.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:09:49.822Z,1628989789.822 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:09:49.822Z,1628989789.822 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:09:49.822Z,1628989789.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:09:49.823Z,1628989789.823 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:09:50.221Z,1628989790.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,006C0,182,80,80,A0,FF
2021-08-15T01:09:50.221Z,1628989790.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:09:50.221Z,1628989790.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:09:50.224Z,1628989790.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:09:50.643Z,1628989790.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:09:51.029Z,1628989791.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,006EF,185,80,80,87,FF
2021-08-15T01:09:51.030Z,1628989791.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:09:51.537Z,1628989791.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010951.48*5E

2021-08-15T01:09:51.576Z,1628989791.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.000008 m, bearing: 167.680734 deg, deltaT: 4.452862 s, approachRate: 0.633302 m/s, LOS rate: 0.725062 deg/s, posRepo size: 4
2021-08-15T01:09:53.926Z,1628989793.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:09:54.269Z,1628989794.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:09:54.269Z,1628989794.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:09:54.270Z,1628989794.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:09:54.271Z,1628989794.271 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:09:54.701Z,1628989794.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,006EF,185,80,80,87,FF
2021-08-15T01:09:54.701Z,1628989794.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:09:54.701Z,1628989794.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:09:54.703Z,1628989794.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:09:55.068Z,1628989795.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:09:55.898Z,1628989795.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010955.95*5A

2021-08-15T01:09:56.759Z,1628989796.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:09:58.297Z,1628989798.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,185,80,80,87,FF
2021-08-15T01:09:58.297Z,1628989798.297 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,185,80,80,87,FF
2021-08-15T01:09:58.297Z,1628989798.297 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:09:59.530Z,1628989799.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:09:59.929Z,1628989799.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:09:59.929Z,1628989799.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:09:59.929Z,1628989799.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:09:59.930Z,1628989799.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:10:00.329Z,1628989800.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,185,80,80,87,FF
2021-08-15T01:10:00.329Z,1628989800.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:10:00.330Z,1628989800.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:10:00.331Z,1628989800.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:10:00.777Z,1628989800.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:10:01.277Z,1628989801.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,00757,183,80,80,51,FF
2021-08-15T01:10:01.277Z,1628989801.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:10:01.281Z,1628989801.281 [Micromodem](INFO): Nmea in: $SNTTA,0.159103,0.158959,,,011001.58*54

2021-08-15T01:10:01.716Z,1628989801.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.239998 m, bearing: 166.094710 deg, deltaT: 10.239201 s, approachRate: 0.609422 m/s, LOS rate: -0.154897 deg/s, posRepo size: 4
2021-08-15T01:10:04.153Z,1628989804.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:10:04.514Z,1628989804.514 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:10:04.514Z,1628989804.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:10:04.514Z,1628989804.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:10:04.515Z,1628989804.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:10:05.013Z,1628989805.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,00757,183,80,80,51,FF
2021-08-15T01:10:05.013Z,1628989805.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:10:05.013Z,1628989805.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:10:05.015Z,1628989805.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:10:05.417Z,1628989805.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:10:06.250Z,1628989806.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011006.27*5D

2021-08-15T01:10:06.813Z,1628989806.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:10:08.649Z,1628989808.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,08777,184,80,80,5C,FF
2021-08-15T01:10:08.650Z,1628989808.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:10:09.091Z,1628989809.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2043.239990 m, bearing: 162.679888 deg, deltaT: 7.438081 s, approachRate: 264.584381 m/s, LOS rate: -0.459100 deg/s, posRepo size: 4
2021-08-15T01:10:09.091Z,1628989809.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2043.24 m. Resuming terminal guidance.
2021-08-15T01:10:09.092Z,1628989809.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T01:10:11.492Z,1628989811.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:10:11.876Z,1628989811.876 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:10:11.876Z,1628989811.876 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:10:11.877Z,1628989811.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:10:11.878Z,1628989811.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:10:12.273Z,1628989812.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,08777,184,80,80,5C,FF
2021-08-15T01:10:12.273Z,1628989812.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:10:12.273Z,1628989812.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:10:12.275Z,1628989812.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:10:12.744Z,1628989812.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:10:12.756Z,1628989812.756 [Micromodem](INFO): Nmea in: 9330*79

2021-08-15T01:10:12.757Z,1628989812.757 [Micromodem](ERROR): Response from modem failed NMEA checksum: 9330*79
 expected 0
2021-08-15T01:10:13.077Z,1628989813.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,006A1,183,80,80,70,FF
2021-08-15T01:10:13.077Z,1628989813.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:10:13.535Z,1628989813.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.320000 m, bearing: 164.714397 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T01:10:13.536Z,1628989813.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 164.714397deg and heading rate command to 0 deg/s.
2021-08-15T01:10:15.953Z,1628989815.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:10:16.317Z,1628989816.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:10:16.317Z,1628989816.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:10:16.317Z,1628989816.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:10:16.318Z,1628989816.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:10:16.725Z,1628989816.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,006A1,183,80,80,70,FF
2021-08-15T01:10:16.725Z,1628989816.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:10:16.725Z,1628989816.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:10:16.727Z,1628989816.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:10:17.124Z,1628989817.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:10:17.954Z,1628989817.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011017.98*59

2021-08-15T01:10:18.743Z,1628989818.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,039BB,183,80,80,6B,FF
2021-08-15T01:10:18.743Z,1628989818.743 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:10:19.204Z,1628989819.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 849.240051 m, bearing: 166.989956 deg, deltaT: 5.688994 s, approachRate: 137.971680 m/s, LOS rate: 0.399993 deg/s, posRepo size: 2
2021-08-15T01:10:19.208Z,1628989819.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 849.240051 m,
      bearing: 166.989956 deg,
      approachRate: 137.971680 m/s,
      LOS rate: 0.399993 deg/s,
      cmd update: 1.599973 deg/s,
      cmd heading: 164.714397 deg,
      new cmd heading: 164.714397 deg.

2021-08-15T01:10:21.582Z,1628989821.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:10:21.965Z,1628989821.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:10:21.965Z,1628989821.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:10:21.965Z,1628989821.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:10:21.966Z,1628989821.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:10:22.377Z,1628989822.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,039BB,183,80,80,6B,FF
2021-08-15T01:10:22.378Z,1628989822.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:10:22.378Z,1628989822.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:10:22.379Z,1628989822.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:10:22.777Z,1628989822.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:10:23.182Z,1628989823.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,00840,186,80,80,32,FF
2021-08-15T01:10:23.182Z,1628989823.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:10:23.617Z,1628989823.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011023.63*5A

2021-08-15T01:10:23.648Z,1628989823.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.220009 m, bearing: 187.728596 deg, deltaT: 4.474861 s, approachRate: -169.842148 m/s, LOS rate: 4.634477 deg/s, posRepo size: 3
2021-08-15T01:10:23.650Z,1628989823.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.220009 m,
      bearing: 187.728596 deg,
      approachRate: -169.842148 m/s,
      LOS rate: 4.634477 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 171.880381 deg,
      new cmd heading: 172.450694 deg.

2021-08-15T01:10:26.054Z,1628989826.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:10:26.414Z,1628989826.414 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:10:26.414Z,1628989826.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:10:26.414Z,1628989826.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:10:26.415Z,1628989826.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:10:26.813Z,1628989826.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,00840,186,80,80,32,FF
2021-08-15T01:10:26.813Z,1628989826.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:10:26.813Z,1628989826.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:10:26.815Z,1628989826.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:10:27.236Z,1628989827.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:10:27.632Z,1628989827.632 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,0086A,186,80,80,8F,FF
2021-08-15T01:10:27.633Z,1628989827.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:10:28.061Z,1628989828.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011028.07*53

2021-08-15T01:10:28.110Z,1628989828.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.739998 m, bearing: 199.941521 deg, deltaT: 4.353379 s, approachRate: 0.578858 m/s, LOS rate: 2.805390 deg/s, posRepo size: 4
2021-08-15T01:10:28.113Z,1628989828.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.739998 m,
      bearing: 199.941521 deg,
      approachRate: 0.578858 m/s,
      LOS rate: 2.805390 deg/s,
      cmd update: 11.221559 deg/s,
      cmd heading: 224.169913 deg,
      new cmd heading: 229.707182 deg.

2021-08-15T01:10:30.499Z,1628989830.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:10:30.876Z,1628989830.876 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:10:30.876Z,1628989830.876 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:10:30.877Z,1628989830.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:10:30.879Z,1628989830.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:10:31.265Z,1628989831.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,0086A,186,80,80,8F,FF
2021-08-15T01:10:31.265Z,1628989831.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:10:31.265Z,1628989831.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:10:31.267Z,1628989831.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:10:31.736Z,1628989831.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:10:32.096Z,1628989832.096 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,00897,186,80,80,76,FF
2021-08-15T01:10:32.097Z,1628989832.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:10:32.525Z,1628989832.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011032.52*58

2021-08-15T01:10:32.547Z,1628989832.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.439995 m, bearing: 208.592338 deg, deltaT: 4.475029 s, approachRate: 0.603347 m/s, LOS rate: 1.933131 deg/s, posRepo size: 4
2021-08-15T01:10:32.550Z,1628989832.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.439995 m,
      bearing: 208.592338 deg,
      approachRate: 0.603347 m/s,
      LOS rate: 1.933131 deg/s,
      cmd update: 7.732524 deg/s,
      cmd heading: 274.389687 deg,
      new cmd heading: 279.141221 deg.

2021-08-15T01:10:34.993Z,1628989834.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:10:35.312Z,1628989835.312 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:10:35.312Z,1628989835.312 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:10:35.313Z,1628989835.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:10:35.313Z,1628989835.313 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:10:35.713Z,1628989835.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,00897,186,80,80,76,FF
2021-08-15T01:10:35.713Z,1628989835.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:10:35.713Z,1628989835.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:10:35.715Z,1628989835.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:10:36.122Z,1628989836.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:10:36.513Z,1628989836.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,008BD,186,80,80,8A,FF
2021-08-15T01:10:36.513Z,1628989836.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:10:36.950Z,1628989836.950 [Micromodem](INFO): Nmea in: $SNTTA,0.093171,0.363971,,,011036.97*51

2021-08-15T01:10:37.027Z,1628989837.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.720001 m, bearing: 236.254140 deg, deltaT: 4.437980 s, approachRate: 0.513749 m/s, LOS rate: 6.232971 deg/s, posRepo size: 4
2021-08-15T01:10:37.033Z,1628989837.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.720001 m,
      bearing: 236.254140 deg,
      approachRate: 0.513749 m/s,
      LOS rate: 6.232971 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 308.706550 deg,
      new cmd heading: 312.256335 deg.

2021-08-15T01:10:39.387Z,1628989839.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:10:39.745Z,1628989839.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:10:39.745Z,1628989839.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:10:39.745Z,1628989839.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:10:39.746Z,1628989839.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:10:40.161Z,1628989840.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,008BD,186,80,80,8A,FF
2021-08-15T01:10:40.161Z,1628989840.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:10:40.161Z,1628989840.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:10:40.163Z,1628989840.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:10:40.566Z,1628989840.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:10:40.961Z,1628989840.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFE,000,008DC,186,80,80,7B,FF
2021-08-15T01:10:40.962Z,1628989840.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:10:40.965Z,1628989840.965 [Micromodem](INFO): Nmea in: $SNTTA,0.084969,0.139763,,,011041.41*5D

2021-08-15T01:10:41.402Z,1628989841.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.580002 m, bearing: 246.587123 deg, deltaT: 4.490262 s, approachRate: 0.414230 m/s, LOS rate: 2.301198 deg/s, posRepo size: 4
2021-08-15T01:10:41.404Z,1628989841.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.580002 m,
      bearing: 246.587123 deg,
      approachRate: 0.414230 m/s,
      LOS rate: 2.301198 deg/s,
      cmd update: 9.204793 deg/s,
      cmd heading: 2.583912 deg,
      new cmd heading: 6.789396 deg.

2021-08-15T01:10:42.993Z,1628989842.993 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:10:43.806Z,1628989843.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:10:44.213Z,1628989844.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:10:44.213Z,1628989844.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:10:44.213Z,1628989844.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:10:44.214Z,1628989844.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:10:44.605Z,1628989844.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFE,000,008DC,186,80,80,7B,FF
2021-08-15T01:10:44.605Z,1628989844.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:10:44.605Z,1628989844.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:10:44.607Z,1628989844.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:10:45.067Z,1628989845.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:10:45.429Z,1628989845.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,008E6,187,80,80,70,FF
2021-08-15T01:10:45.429Z,1628989845.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:10:45.869Z,1628989845.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011045.86*51

2021-08-15T01:10:45.919Z,1628989845.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.180000 m, bearing: 229.374199 deg, deltaT: 4.393525 s, approachRate: 0.136564 m/s, LOS rate: -3.917794 deg/s, posRepo size: 4
2021-08-15T01:10:45.921Z,1628989845.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.180000 m,
      bearing: 229.374199 deg,
      approachRate: 0.136564 m/s,
      LOS rate: -3.917794 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 43.028568 deg,
      new cmd heading: 47.363593 deg.

2021-08-15T01:10:48.297Z,1628989848.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:10:48.656Z,1628989848.656 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:10:48.657Z,1628989848.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:10:48.658Z,1628989848.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:10:48.659Z,1628989848.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:10:49.041Z,1628989849.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,008E6,187,80,80,70,FF
2021-08-15T01:10:49.041Z,1628989849.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:10:49.041Z,1628989849.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:10:49.043Z,1628989849.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:10:49.445Z,1628989849.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:10:49.853Z,1628989849.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFC,000,008E5,185,80,80,B4,FF
2021-08-15T01:10:49.854Z,1628989849.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:10:50.281Z,1628989850.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011050.29*50

2021-08-15T01:10:50.318Z,1628989850.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.120003 m, bearing: 297.381327 deg, deltaT: 4.469780 s, approachRate: -0.013423 m/s, LOS rate: 15.214871 deg/s, posRepo size: 4
2021-08-15T01:10:50.319Z,1628989850.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.214871 deg/s. Setting heading cmd to target bearing of 297.381327deg and heading rate command to 0 deg/s.
2021-08-15T01:10:52.754Z,1628989852.754 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T01:10:52.770Z,1628989852.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:10:53.107Z,1628989853.107 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:10:53.107Z,1628989853.107 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:10:53.107Z,1628989853.107 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:10:53.108Z,1628989853.108 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:10:53.485Z,1628989853.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFC,000,008E5,185,80,80,B4,FF
2021-08-15T01:10:53.485Z,1628989853.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:10:53.485Z,1628989853.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:10:53.487Z,1628989853.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:10:53.921Z,1628989853.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:10:54.293Z,1628989854.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,008DB,189,80,80,8B,FF
2021-08-15T01:10:54.294Z,1628989854.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:10:54.746Z,1628989854.746 [Micromodem](INFO): Nmea in: $SNTTA,0.070318,,,,011054.74*4F

2021-08-15T01:10:54.783Z,1628989854.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.520004 m, bearing: 353.181869 deg, deltaT: 4.394191 s, approachRate: -0.136544 m/s, LOS rate: 12.698706 deg/s, posRepo size: 4
2021-08-15T01:10:54.783Z,1628989854.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.698706 deg/s. Setting heading cmd to target bearing of 353.181869deg and heading rate command to 0 deg/s.
2021-08-15T01:10:57.167Z,1628989857.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:10:57.525Z,1628989857.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:10:57.525Z,1628989857.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:10:57.525Z,1628989857.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:10:57.526Z,1628989857.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:10:57.945Z,1628989857.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,008DB,189,80,80,8B,FF
2021-08-15T01:10:57.945Z,1628989857.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:10:57.945Z,1628989857.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:10:57.947Z,1628989857.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:10:58.332Z,1628989858.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:10:58.753Z,1628989858.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C35,000,008C1,189,80,80,AD,FF
2021-08-15T01:10:58.754Z,1628989858.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:10:58.757Z,1628989858.757 [Micromodem](INFO): Nmea in: $SNTTA,0.249163,0.249220,,,011059.20*54

2021-08-15T01:10:59.173Z,1628989859.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.959999 m, bearing: 355.217320 deg, deltaT: 4.528963 s, approachRate: -0.344451 m/s, LOS rate: 0.449430 deg/s, posRepo size: 4
2021-08-15T01:10:59.175Z,1628989859.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.959999 m,
      bearing: 355.217320 deg,
      approachRate: -0.344451 m/s,
      LOS rate: 0.449430 deg/s,
      cmd update: 1.797719 deg/s,
      cmd heading: 353.181869 deg,
      new cmd heading: 353.181869 deg.

2021-08-15T01:10:59.932Z,1628989859.932 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-15T01:10:59.935Z,1628989859.935 [BPC1](INFO): Received data from all battery sticks.
2021-08-15T01:11:01.598Z,1628989861.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:11:01.974Z,1628989861.974 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:11:01.974Z,1628989861.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:11:01.974Z,1628989861.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:11:01.975Z,1628989861.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:11:02.369Z,1628989862.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C35,000,008C1,189,80,80,AD,FF
2021-08-15T01:11:02.369Z,1628989862.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:11:02.369Z,1628989862.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:11:02.371Z,1628989862.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:11:02.786Z,1628989862.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:11:03.182Z,1628989863.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17B,000,0089F,186,80,80,8E,FF
2021-08-15T01:11:03.182Z,1628989863.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:11:03.629Z,1628989863.629 [Micromodem](INFO): Nmea in: $SNTTA,0.063039,,,,011103.63*48

2021-08-15T01:11:03.630Z,1628989863.630 [Micromodem](INFO): Nmea in: $CARE.20.0.39330*7E

2021-08-15T01:11:03.631Z,1628989863.631 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CARE.20.0.39330*7E
 expected 33
2021-08-15T01:11:03.645Z,1628989863.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.919998 m, bearing: 305.891825 deg, deltaT: 4.414802 s, approachRate: -0.462082 m/s, LOS rate: -11.172753 deg/s, posRepo size: 4
2021-08-15T01:11:03.647Z,1628989863.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.919998 m,
      bearing: 305.891825 deg,
      approachRate: -0.462082 m/s,
      LOS rate: -11.172753 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 1.118348 deg,
      new cmd heading: 1.829177 deg.

2021-08-15T01:11:06.062Z,1628989866.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:11:06.409Z,1628989866.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:11:06.409Z,1628989866.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:11:06.409Z,1628989866.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:11:06.410Z,1628989866.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:11:06.818Z,1628989866.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17B,000,0089F,186,80,80,8E,FF
2021-08-15T01:11:06.818Z,1628989866.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:11:06.818Z,1628989866.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:11:06.821Z,1628989866.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:11:07.235Z,1628989867.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:11:07.623Z,1628989867.623 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00876,186,80,80,96,FF
2021-08-15T01:11:07.623Z,1628989867.623 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:11:08.070Z,1628989868.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011108.07*50

2021-08-15T01:11:08.095Z,1628989868.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.459999 m, bearing: 5.099025 deg, deltaT: 4.446462 s, approachRate: -0.553249 m/s, LOS rate: 13.315578 deg/s, posRepo size: 4
2021-08-15T01:11:08.096Z,1628989868.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.315578 deg/s. Setting heading cmd to target bearing of 5.099025deg and heading rate command to 0 deg/s.
2021-08-15T01:11:10.467Z,1628989870.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:11:10.873Z,1628989870.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:11:10.874Z,1628989870.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:11:10.874Z,1628989870.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:11:10.875Z,1628989870.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:11:11.273Z,1628989871.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,00876,186,80,80,96,FF
2021-08-15T01:11:11.273Z,1628989871.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:11:11.273Z,1628989871.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:11:11.275Z,1628989871.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:11:11.664Z,1628989871.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:11:12.065Z,1628989872.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E90,000,00846,186,80,80,B4,FF
2021-08-15T01:11:12.066Z,1628989872.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:11:12.506Z,1628989872.506 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011112.53*5A

2021-08-15T01:11:12.550Z,1628989872.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.580002 m, bearing: 5.735872 deg, deltaT: 4.443019 s, approachRate: -0.648207 m/s, LOS rate: 0.143337 deg/s, posRepo size: 4
2021-08-15T01:11:12.551Z,1628989872.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.580002 m,
      bearing: 5.735872 deg,
      approachRate: -0.648207 m/s,
      LOS rate: 0.143337 deg/s,
      cmd update: 0.573347 deg/s,
      cmd heading: 5.099025 deg,
      new cmd heading: 5.099025 deg.

2021-08-15T01:11:15.010Z,1628989875.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:11:15.297Z,1628989875.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:11:15.297Z,1628989875.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:11:15.297Z,1628989875.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:11:15.298Z,1628989875.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:11:15.697Z,1628989875.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E90,000,00846,186,80,80,B4,FF
2021-08-15T01:11:15.697Z,1628989875.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:11:15.698Z,1628989875.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:11:15.699Z,1628989875.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:11:16.113Z,1628989876.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:11:16.511Z,1628989876.511 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD7,000,0081C,189,80,80,6F,FF
2021-08-15T01:11:16.512Z,1628989876.512 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:11:16.953Z,1628989876.953 [Micromodem](INFO): Nmea in: $SNTTA,0.063636,,,,011116.95*4C

2021-08-15T01:11:17.011Z,1628989877.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.059998 m, bearing: 3.565865 deg, deltaT: 4.386008 s, approachRate: -0.574555 m/s, LOS rate: -0.494757 deg/s, posRepo size: 4
2021-08-15T01:11:17.013Z,1628989877.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.059998 m,
      bearing: 3.565865 deg,
      approachRate: -0.574555 m/s,
      LOS rate: -0.494757 deg/s,
      cmd update: -1.979027 deg/s,
      cmd heading: 7.613635 deg,
      new cmd heading: 7.890006 deg.

2021-08-15T01:11:19.047Z,1628989879.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:11:19.349Z,1628989879.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:11:19.349Z,1628989879.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:11:19.349Z,1628989879.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:11:19.350Z,1628989879.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:11:19.372Z,1628989879.372 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD7,000,0081C,189,80,80,6F,FF
2021-08-15T01:11:19.373Z,1628989879.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:11:19.373Z,1628989879.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:11:19.375Z,1628989879.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:11:19.753Z,1628989879.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:11:20.153Z,1628989880.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,007F5,187,80,80,C7,FF
2021-08-15T01:11:20.153Z,1628989880.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:11:20.581Z,1628989880.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011120.63*58

2021-08-15T01:11:20.621Z,1628989880.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.719994 m, bearing: 9.000458 deg, deltaT: 3.700205 s, approachRate: -0.632398 m/s, LOS rate: 1.468727 deg/s, posRepo size: 4
2021-08-15T01:11:20.663Z,1628989880.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.719994 m,
      bearing: 9.000458 deg,
      approachRate: -0.632398 m/s,
      LOS rate: 1.468727 deg/s,
      cmd update: 5.874910 deg/s,
      cmd heading: 0.293291 deg,
      new cmd heading: 359.528209 deg.

2021-08-15T01:11:23.034Z,1628989883.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:11:23.388Z,1628989883.388 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:11:23.389Z,1628989883.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:11:23.389Z,1628989883.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:11:23.390Z,1628989883.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:11:23.781Z,1628989883.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E28,000,007F5,187,80,80,C7,FF
2021-08-15T01:11:23.781Z,1628989883.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:11:23.781Z,1628989883.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:11:23.783Z,1628989883.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:11:24.191Z,1628989884.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:11:24.597Z,1628989884.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,007C4,184,80,80,9E,FF
2021-08-15T01:11:24.598Z,1628989884.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:11:25.033Z,1628989885.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011125.04*5C

2021-08-15T01:11:25.107Z,1628989885.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.780006 m, bearing: 4.365194 deg, deltaT: 4.439031 s, approachRate: -0.662304 m/s, LOS rate: -1.044206 deg/s, posRepo size: 4
2021-08-15T01:11:25.114Z,1628989885.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.780006 m,
      bearing: 4.365194 deg,
      approachRate: -0.662304 m/s,
      LOS rate: -1.044206 deg/s,
      cmd update: -4.176825 deg/s,
      cmd heading: 26.113162 deg,
      new cmd heading: 28.959303 deg.

2021-08-15T01:11:27.438Z,1628989887.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:11:27.821Z,1628989887.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:11:27.821Z,1628989887.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:11:27.821Z,1628989887.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:11:27.822Z,1628989887.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:11:28.229Z,1628989888.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,007C4,184,80,80,9E,FF
2021-08-15T01:11:28.229Z,1628989888.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:11:28.230Z,1628989888.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:11:28.231Z,1628989888.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:11:28.649Z,1628989888.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:11:29.038Z,1628989889.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,191,000,00796,186,80,80,A1,FF
2021-08-15T01:11:29.038Z,1628989889.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:11:29.473Z,1628989889.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011129.49*59

2021-08-15T01:11:29.515Z,1628989889.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.020004 m, bearing: 359.721311 deg, deltaT: 4.396824 s, approachRate: -0.627726 m/s, LOS rate: -1.056192 deg/s, posRepo size: 4
2021-08-15T01:11:29.522Z,1628989889.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.020004 m,
      bearing: 359.721311 deg,
      approachRate: -0.627726 m/s,
      LOS rate: -1.056192 deg/s,
      cmd update: -4.224768 deg/s,
      cmd heading: 7.559020 deg,
      new cmd heading: 5.677924 deg.

2021-08-15T01:11:31.911Z,1628989891.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:11:32.258Z,1628989892.258 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:11:32.259Z,1628989892.259 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:11:32.259Z,1628989892.259 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:11:32.260Z,1628989892.260 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:11:32.733Z,1628989892.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
191,000,00796,186,80,80,A1,FF
2021-08-15T01:11:32.733Z,1628989892.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:11:32.733Z,1628989892.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:11:32.735Z,1628989892.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:11:33.105Z,1628989893.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:11:33.501Z,1628989893.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1ED,000,00768,186,80,80,B6,FF
2021-08-15T01:11:33.501Z,1628989893.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:11:33.949Z,1628989893.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011133.99*5F

2021-08-15T01:11:33.986Z,1628989893.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.259995 m, bearing: 356.898558 deg, deltaT: 4.453527 s, approachRate: -0.619736 m/s, LOS rate: -0.633824 deg/s, posRepo size: 4
2021-08-15T01:11:33.987Z,1628989893.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.259995 m,
      bearing: 356.898558 deg,
      approachRate: -0.619736 m/s,
      LOS rate: -0.633824 deg/s,
      cmd update: -2.535297 deg/s,
      cmd heading: 348.742969 deg,
      new cmd heading: 346.770699 deg.

2021-08-15T01:11:36.347Z,1628989896.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:11:36.741Z,1628989896.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:11:36.742Z,1628989896.742 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:11:36.742Z,1628989896.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:11:36.743Z,1628989896.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:11:37.137Z,1628989897.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1ED,000,00768,186,80,80,B6,FF
2021-08-15T01:11:37.137Z,1628989897.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:11:37.137Z,1628989897.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:11:37.139Z,1628989897.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:11:37.548Z,1628989897.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:11:37.951Z,1628989897.951 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,00734,183,80,80,B2,FF
2021-08-15T01:11:37.951Z,1628989897.951 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:11:38.381Z,1628989898.381 [Micromodem](INFO): Nmea in: $SNTTA,0.063102,,,,011138.39*46

2021-08-15T01:11:38.428Z,1628989898.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.140007 m, bearing: 5.701850 deg, deltaT: 4.465657 s, approachRate: -0.698663 m/s, LOS rate: 1.971330 deg/s, posRepo size: 4
2021-08-15T01:11:38.430Z,1628989898.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.140007 m,
      bearing: 5.701850 deg,
      approachRate: -0.698663 m/s,
      LOS rate: 1.971330 deg/s,
      cmd update: 7.885320 deg/s,
      cmd heading: 337.421233 deg,
      new cmd heading: 336.357762 deg.

2021-08-15T01:11:40.833Z,1628989900.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:11:41.186Z,1628989901.186 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:11:41.186Z,1628989901.186 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:11:41.186Z,1628989901.186 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:11:41.187Z,1628989901.187 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:11:41.373Z,1628989901.373 [CTD_Seabird](ERROR): Failed to parse device response: 5.78,93
2021-08-15T01:11:41.581Z,1628989901.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,00734,183,80,80,B2,FF
2021-08-15T01:11:41.581Z,1628989901.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:11:41.581Z,1628989901.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:11:41.583Z,1628989901.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:11:42.000Z,1628989902.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:11:42.401Z,1628989902.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,00703,187,80,80,BA,FF
2021-08-15T01:11:42.402Z,1628989902.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:11:42.834Z,1628989902.834 [Micromodem](INFO): Nmea in: $SNTTA,0.470410,,,,011142.84*4D

2021-08-15T01:11:42.888Z,1628989902.888 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T01:11:42.934Z,1628989902.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.200005 m, bearing: 7.587311 deg, deltaT: 4.500433 s, approachRate: -0.653271 m/s, LOS rate: 0.418951 deg/s, posRepo size: 4
2021-08-15T01:11:42.940Z,1628989902.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.200005 m,
      bearing: 7.587311 deg,
      approachRate: -0.653271 m/s,
      LOS rate: 0.418951 deg/s,
      cmd update: 1.675804 deg/s,
      cmd heading: 12.905884 deg,
      new cmd heading: 16.448931 deg.

2021-08-15T01:11:45.258Z,1628989905.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:11:45.625Z,1628989905.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:11:45.625Z,1628989905.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:11:45.625Z,1628989905.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:11:45.626Z,1628989905.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:11:46.030Z,1628989906.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,00703,187,80,80,BA,FF
2021-08-15T01:11:46.030Z,1628989906.030 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:11:46.030Z,1628989906.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:11:46.032Z,1628989906.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:11:46.437Z,1628989906.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:11:46.837Z,1628989906.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,006D8,187,80,80,9B,FF
2021-08-15T01:11:46.837Z,1628989906.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:11:47.277Z,1628989907.277 [Micromodem](INFO): Nmea in: $SNTTA,0.047110,,,,011147.29*4A

2021-08-15T01:11:47.306Z,1628989907.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.619995 m, bearing: 4.925227 deg, deltaT: 4.474845 s, approachRate: -0.576558 m/s, LOS rate: -0.594900 deg/s, posRepo size: 4
2021-08-15T01:11:47.309Z,1628989907.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.619995 m,
      bearing: 4.925227 deg,
      approachRate: -0.576558 m/s,
      LOS rate: -0.594900 deg/s,
      cmd update: -2.379599 deg/s,
      cmd heading: 20.398668 deg,
      new cmd heading: 20.986635 deg.

2021-08-15T01:11:49.708Z,1628989909.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:11:50.071Z,1628989910.071 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:11:50.071Z,1628989910.071 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:11:50.071Z,1628989910.071 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:11:50.072Z,1628989910.072 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:11:50.477Z,1628989910.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,006D8,187,80,80,9B,FF
2021-08-15T01:11:50.477Z,1628989910.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:11:50.478Z,1628989910.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:11:50.479Z,1628989910.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:11:50.901Z,1628989910.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:11:51.282Z,1628989911.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,006A1,186,80,80,96,FF
2021-08-15T01:11:51.282Z,1628989911.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:11:51.717Z,1628989911.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011151.73*5F

2021-08-15T01:11:51.751Z,1628989911.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.320000 m, bearing: 0.651942 deg, deltaT: 4.343920 s, approachRate: -0.759681 m/s, LOS rate: -0.983739 deg/s, posRepo size: 4
2021-08-15T01:11:51.753Z,1628989911.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.320000 m,
      bearing: 0.651942 deg,
      approachRate: -0.759681 m/s,
      LOS rate: -0.983739 deg/s,
      cmd update: -3.934958 deg/s,
      cmd heading: 10.052285 deg,
      new cmd heading: 8.988022 deg.

2021-08-15T01:11:54.169Z,1628989914.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:11:54.525Z,1628989914.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:11:54.525Z,1628989914.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:11:54.525Z,1628989914.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:11:54.526Z,1628989914.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:11:54.937Z,1628989914.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,006A1,186,80,80,96,FF
2021-08-15T01:11:54.937Z,1628989914.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:11:54.937Z,1628989914.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:11:54.939Z,1628989914.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:11:55.321Z,1628989915.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:11:55.726Z,1628989915.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,00674,185,80,80,B0,FF
2021-08-15T01:11:55.726Z,1628989915.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:11:56.145Z,1628989916.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011156.19*54

2021-08-15T01:11:56.183Z,1628989916.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.619995 m, bearing: 359.915971 deg, deltaT: 4.557425 s, approachRate: -0.592441 m/s, LOS rate: -0.161485 deg/s, posRepo size: 4
2021-08-15T01:11:56.187Z,1628989916.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.619995 m,
      bearing: 359.915971 deg,
      approachRate: -0.592441 m/s,
      LOS rate: -0.161485 deg/s,
      cmd update: -0.645941 deg/s,
      cmd heading: 352.509944 deg,
      new cmd heading: 350.852997 deg.

2021-08-15T01:11:58.594Z,1628989918.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:11:58.961Z,1628989918.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:11:58.961Z,1628989918.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:11:58.962Z,1628989918.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:11:58.963Z,1628989918.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:11:58.993Z,1628989918.993 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T01:11:59.354Z,1628989919.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,00674,185,80,80,B0,FF
2021-08-15T01:11:59.354Z,1628989919.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:11:59.354Z,1628989919.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:11:59.356Z,1628989919.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:11:59.765Z,1628989919.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:12:00.165Z,1628989920.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,00644,183,80,80,B9,FF
2021-08-15T01:12:00.166Z,1628989920.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:12:00.610Z,1628989920.610 [Micromodem](INFO): Nmea in: $SNTTA,0.070394,,,,011200.61*4C

2021-08-15T01:12:00.687Z,1628989920.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.739998 m, bearing: 6.424153 deg, deltaT: 4.367760 s, approachRate: -0.659376 m/s, LOS rate: 1.490049 deg/s, posRepo size: 4
2021-08-15T01:12:00.691Z,1628989920.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.739998 m,
      bearing: 6.424153 deg,
      approachRate: -0.659376 m/s,
      LOS rate: 1.490049 deg/s,
      cmd update: 5.960196 deg/s,
      cmd heading: 349.643240 deg,
      new cmd heading: 349.328665 deg.

2021-08-15T01:12:03.013Z,1628989923.013 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T01:12:03.059Z,1628989923.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:12:03.402Z,1628989923.402 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:12:03.402Z,1628989923.402 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:12:03.402Z,1628989923.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:12:03.403Z,1628989923.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:12:03.805Z,1628989923.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,00644,183,80,80,B9,FF
2021-08-15T01:12:03.805Z,1628989923.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:12:03.805Z,1628989923.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:12:03.807Z,1628989923.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:12:04.260Z,1628989924.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:12:04.630Z,1628989924.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,00612,187,80,80,9F,FF
2021-08-15T01:12:04.632Z,1628989924.632 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:12:04.666Z,1628989924.666 [Micromodem](INFO): Nmea in: $SNTTA,0.318344,0.318350,,,011205.06*5A

2021-08-15T01:12:05.054Z,1628989925.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.740002 m, bearing: 7.773384 deg, deltaT: 4.524575 s, approachRate: -0.663045 m/s, LOS rate: 0.298200 deg/s, posRepo size: 4
2021-08-15T01:12:05.056Z,1628989925.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.740002 m,
      bearing: 7.773384 deg,
      approachRate: -0.663045 m/s,
      LOS rate: 0.298200 deg/s,
      cmd update: 1.192802 deg/s,
      cmd heading: 16.735206 deg,
      new cmd heading: 18.578456 deg.

2021-08-15T01:12:07.466Z,1628989927.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:12:07.842Z,1628989927.842 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:12:07.842Z,1628989927.842 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:12:07.843Z,1628989927.843 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:12:07.844Z,1628989927.844 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:12:08.253Z,1628989928.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,00612,187,80,80,9F,FF
2021-08-15T01:12:08.253Z,1628989928.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:12:08.253Z,1628989928.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:12:08.255Z,1628989928.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:12:08.685Z,1628989928.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:12:09.054Z,1628989929.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,054,000,005E4,184,80,80,75,FF
2021-08-15T01:12:09.054Z,1628989929.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:12:09.498Z,1628989929.498 [Micromodem](INFO): Nmea in: $SNTTA,0.068442,,,,011209.51*43

2021-08-15T01:12:09.515Z,1628989929.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.980000 m, bearing: 4.548041 deg, deltaT: 4.367771 s, approachRate: -0.631902 m/s, LOS rate: -0.738441 deg/s, posRepo size: 4
2021-08-15T01:12:09.517Z,1628989929.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.980000 m,
      bearing: 4.548041 deg,
      approachRate: -0.631902 m/s,
      LOS rate: -0.738441 deg/s,
      cmd update: -2.953766 deg/s,
      cmd heading: 21.944979 deg,
      new cmd heading: 22.424334 deg.

2021-08-15T01:12:11.934Z,1628989931.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:12:12.285Z,1628989932.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:12:12.285Z,1628989932.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:12:12.285Z,1628989932.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:12:12.286Z,1628989932.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:12:12.733Z,1628989932.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
054,000,005E4,184,80,80,75,FF
2021-08-15T01:12:12.733Z,1628989932.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:12:12.734Z,1628989932.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:12:12.735Z,1628989932.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:12:13.126Z,1628989933.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:12:13.521Z,1628989933.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,005B1,186,80,80,8F,FF
2021-08-15T01:12:13.522Z,1628989933.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:12:13.965Z,1628989933.965 [Micromodem](INFO): Nmea in: $SNTTA,0.053292,,,,011213.99*4F

2021-08-15T01:12:14.016Z,1628989934.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.920002 m, bearing: 358.270032 deg, deltaT: 4.453274 s, approachRate: -0.687134 m/s, LOS rate: -1.409749 deg/s, posRepo size: 4
2021-08-15T01:12:14.018Z,1628989934.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.920002 m,
      bearing: 358.270032 deg,
      approachRate: -0.687134 m/s,
      LOS rate: -1.409749 deg/s,
      cmd update: -5.638996 deg/s,
      cmd heading: 8.778746 deg,
      new cmd heading: 7.522368 deg.

2021-08-15T01:12:16.374Z,1628989936.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:12:16.753Z,1628989936.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:12:16.753Z,1628989936.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:12:16.753Z,1628989936.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:12:16.754Z,1628989936.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:12:17.161Z,1628989937.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,005B1,186,80,80,8F,FF
2021-08-15T01:12:17.161Z,1628989937.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:12:17.162Z,1628989937.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:12:17.163Z,1628989937.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:12:17.565Z,1628989937.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:12:17.961Z,1628989937.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CB,000,00586,187,80,80,8F,FF
2021-08-15T01:12:17.962Z,1628989937.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:12:18.401Z,1628989938.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011218.42*53

2021-08-15T01:12:18.445Z,1628989938.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.339996 m, bearing: 0.334217 deg, deltaT: 4.414041 s, approachRate: -0.584500 m/s, LOS rate: 0.467640 deg/s, posRepo size: 4
2021-08-15T01:12:18.447Z,1628989938.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.339996 m,
      bearing: 0.334217 deg,
      approachRate: -0.584500 m/s,
      LOS rate: 0.467640 deg/s,
      cmd update: 1.870560 deg/s,
      cmd heading: 343.864842 deg,
      new cmd heading: 341.287392 deg.

2021-08-15T01:12:20.884Z,1628989940.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:12:21.202Z,1628989941.202 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:12:21.202Z,1628989941.202 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:12:21.202Z,1628989941.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:12:21.203Z,1628989941.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:12:21.609Z,1628989941.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CB,000,00586,187,80,80,8F,FF
2021-08-15T01:12:21.609Z,1628989941.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:12:21.609Z,1628989941.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:12:21.611Z,1628989941.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:12:22.008Z,1628989942.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:12:22.417Z,1628989942.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,00550,183,80,80,76,FF
2021-08-15T01:12:22.418Z,1628989942.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:12:22.421Z,1628989942.421 [Micromodem](INFO): Nmea in: $SNTTA,0.199717,0.199742,,,011222.87*53

2021-08-15T01:12:22.909Z,1628989942.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.100002 m, bearing: 7.296655 deg, deltaT: 4.473062 s, approachRate: -0.724335 m/s, LOS rate: 1.556526 deg/s, posRepo size: 4
2021-08-15T01:12:22.911Z,1628989942.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.100002 m,
      bearing: 7.296655 deg,
      approachRate: -0.724335 m/s,
      LOS rate: 1.556526 deg/s,
      cmd update: 6.226105 deg/s,
      cmd heading: 352.194562 deg,
      new cmd heading: 353.068415 deg.

2021-08-15T01:12:25.274Z,1628989945.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:12:25.660Z,1628989945.660 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:12:25.661Z,1628989945.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:12:25.661Z,1628989945.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:12:25.662Z,1628989945.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:12:26.045Z,1628989946.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
008,000,00550,183,80,80,76,FF
2021-08-15T01:12:26.045Z,1628989946.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:12:26.045Z,1628989946.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:12:26.047Z,1628989946.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:12:26.486Z,1628989946.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:12:26.877Z,1628989946.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,0051F,186,80,80,A3,FF
2021-08-15T01:12:26.878Z,1628989946.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:12:27.312Z,1628989947.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.159996 m, bearing: 10.368873 deg, deltaT: 4.486962 s, approachRate: -0.655233 m/s, LOS rate: 0.684699 deg/s, posRepo size: 4
2021-08-15T01:12:27.314Z,1628989947.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.159996 m,
      bearing: 10.368873 deg,
      approachRate: -0.655233 m/s,
      LOS rate: 0.684699 deg/s,
      cmd update: 2.738795 deg/s,
      cmd heading: 20.255283 deg,
      new cmd heading: 22.519712 deg.

2021-08-15T01:12:29.722Z,1628989949.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:12:30.081Z,1628989950.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:12:30.081Z,1628989950.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:12:30.081Z,1628989950.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:12:30.082Z,1628989950.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:12:30.497Z,1628989950.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,0051F,186,80,80,A3,FF
2021-08-15T01:12:30.497Z,1628989950.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:12:30.497Z,1628989950.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:12:30.499Z,1628989950.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:12:30.925Z,1628989950.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:12:31.305Z,1628989951.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,004ED,185,80,80,6B,FF
2021-08-15T01:12:31.305Z,1628989951.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:12:31.733Z,1628989951.733 [Micromodem](INFO): Nmea in: $SNTTA,0.057312,,,,011231.75*40

2021-08-15T01:12:31.766Z,1628989951.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.159996 m, bearing: 5.491508 deg, deltaT: 4.397755 s, approachRate: -0.682166 m/s, LOS rate: -1.109058 deg/s, posRepo size: 4
2021-08-15T01:12:31.766Z,1628989951.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.16 m.
2021-08-15T01:12:31.768Z,1628989951.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.159996 m,
      bearing: 5.491508 deg,
      approachRate: -0.682166 m/s,
      LOS rate: -1.109058 deg/s,
      cmd update: -4.436231 deg/s,
      cmd heading: 32.234034 deg,
      new cmd heading: 33.448440 deg.

2021-08-15T01:12:32.150Z,1628989952.150 [PowerOnly](INFO): Powering up loadControl
2021-08-15T01:12:32.198Z,1628989952.198 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T01:12:32.198Z,1628989952.198 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:12:32.199Z,1628989952.199 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T01:12:32.200Z,1628989952.200 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T01:12:32.200Z,1628989952.200 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T01:12:32.200Z,1628989952.200 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T01:12:32.601Z,1628989952.601 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T01:12:32.601Z,1628989952.601 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:12:32.601Z,1628989952.601 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T01:12:32.601Z,1628989952.601 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:12:34.191Z,1628989954.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:12:34.545Z,1628989954.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:12:34.546Z,1628989954.546 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:12:34.546Z,1628989954.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:12:34.547Z,1628989954.547 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:12:34.933Z,1628989954.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,004ED,185,80,80,6B,FF
2021-08-15T01:12:34.933Z,1628989954.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:12:34.933Z,1628989954.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:12:34.935Z,1628989954.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:12:35.351Z,1628989955.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:12:35.741Z,1628989955.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,205,000,004BC,186,80,80,6A,FF
2021-08-15T01:12:35.742Z,1628989955.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:12:35.819Z,1628989955.819 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:12:36.186Z,1628989956.186 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011236.19*51

2021-08-15T01:12:36.230Z,1628989956.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.220001 m, bearing: 1.403749 deg, deltaT: 4.470782 s, approachRate: -0.657602 m/s, LOS rate: -0.914328 deg/s, posRepo size: 4
2021-08-15T01:12:36.230Z,1628989956.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.22 m.
2021-08-15T01:12:36.232Z,1628989956.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.220001 m,
      bearing: 1.403749 deg,
      approachRate: -0.657602 m/s,
      LOS rate: -0.914328 deg/s,
      cmd update: -3.657311 deg/s,
      cmd heading: 12.299218 deg,
      new cmd heading: 10.463430 deg.

2021-08-15T01:12:38.655Z,1628989958.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:12:38.982Z,1628989958.982 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:12:38.982Z,1628989958.982 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:12:38.982Z,1628989958.982 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:12:38.983Z,1628989958.983 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:12:39.382Z,1628989959.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
205,000,004BC,186,80,80,6A,FF
2021-08-15T01:12:39.382Z,1628989959.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:12:39.382Z,1628989959.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:12:39.385Z,1628989959.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:12:39.791Z,1628989959.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:12:40.190Z,1628989960.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,00496,187,80,80,75,FF
2021-08-15T01:12:40.191Z,1628989960.191 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:12:40.276Z,1628989960.276 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:12:40.665Z,1628989960.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011240.64*5A

2021-08-15T01:12:40.734Z,1628989960.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 4.562424 deg, deltaT: 4.456395 s, approachRate: -0.511625 m/s, LOS rate: 0.708796 deg/s, posRepo size: 4
2021-08-15T01:12:40.735Z,1628989960.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.94 m.
2021-08-15T01:12:40.741Z,1628989960.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.939999 m,
      bearing: 4.562424 deg,
      approachRate: -0.511625 m/s,
      LOS rate: 0.708796 deg/s,
      cmd update: 2.835185 deg/s,
      cmd heading: 356.016363 deg,
      new cmd heading: 354.311306 deg.

2021-08-15T01:12:43.077Z,1628989963.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:12:43.418Z,1628989963.418 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:12:43.418Z,1628989963.418 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:12:43.419Z,1628989963.419 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:12:43.419Z,1628989963.419 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:12:43.829Z,1628989963.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,00496,187,80,80,75,FF
2021-08-15T01:12:43.829Z,1628989963.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:12:43.830Z,1628989963.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:12:43.832Z,1628989963.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:12:44.257Z,1628989964.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:12:44.668Z,1628989964.668 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,00461,186,80,80,93,FF
2021-08-15T01:12:44.669Z,1628989964.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:12:44.745Z,1628989964.745 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:12:45.105Z,1628989965.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011245.09*54

2021-08-15T01:12:45.155Z,1628989965.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.760000 m, bearing: 7.081354 deg, deltaT: 4.468865 s, approachRate: -0.711590 m/s, LOS rate: 0.563662 deg/s, posRepo size: 4
2021-08-15T01:12:45.160Z,1628989965.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.76 m.
2021-08-15T01:12:45.160Z,1628989965.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.76 m.
2021-08-15T01:12:45.160Z,1628989965.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T01:12:45.162Z,1628989965.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.760000 m,
      bearing: 7.081354 deg,
      approachRate: -0.711590 m/s,
      LOS rate: 0.563662 deg/s,
      cmd update: 2.254648 deg/s,
      cmd heading: 8.700021 deg,
      new cmd heading: 9.872616 deg.

2021-08-15T01:12:47.497Z,1628989967.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:12:47.872Z,1628989967.872 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:12:47.873Z,1628989967.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:12:47.873Z,1628989967.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:12:47.875Z,1628989967.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:12:48.269Z,1628989968.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,00461,186,80,80,93,FF
2021-08-15T01:12:48.270Z,1628989968.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:12:48.270Z,1628989968.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:12:48.271Z,1628989968.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:12:48.721Z,1628989968.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:12:49.086Z,1628989969.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02D,000,00434,184,80,80,9F,FF
2021-08-15T01:12:49.086Z,1628989969.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:12:49.207Z,1628989969.207 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:12:49.513Z,1628989969.513 [Micromodem](INFO): Nmea in: $SNTTA,0.028899,,,,011249.53*4B

2021-08-15T01:12:49.549Z,1628989969.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.059999 m, bearing: 5.035824 deg, deltaT: 4.462058 s, approachRate: -0.605102 m/s, LOS rate: -0.458428 deg/s, posRepo size: 4
2021-08-15T01:12:49.551Z,1628989969.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.059999 m,
      bearing: 5.035824 deg,
      approachRate: -0.605102 m/s,
      LOS rate: -0.458428 deg/s,
      cmd update: -1.833710 deg/s,
      cmd heading: 18.717536 deg,
      new cmd heading: 19.539347 deg.

2021-08-15T01:12:51.966Z,1628989971.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:12:52.313Z,1628989972.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:12:52.313Z,1628989972.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:12:52.313Z,1628989972.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:12:52.314Z,1628989972.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:12:52.749Z,1628989972.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02D,000,00434,184,80,80,9F,FF
2021-08-15T01:12:52.749Z,1628989972.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:12:52.749Z,1628989972.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:12:52.751Z,1628989972.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:12:53.129Z,1628989973.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:12:53.525Z,1628989973.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,00403,186,80,80,91,FF
2021-08-15T01:12:53.526Z,1628989973.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:12:53.608Z,1628989973.608 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:12:53.951Z,1628989973.951 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011254.01*5C

2021-08-15T01:12:54.011Z,1628989974.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 358.990672 deg, deltaT: 4.401290 s, approachRate: -0.667985 m/s, LOS rate: -1.373494 deg/s, posRepo size: 4
2021-08-15T01:12:54.014Z,1628989974.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 358.990672 deg,
      approachRate: -0.667985 m/s,
      LOS rate: -1.373494 deg/s,
      cmd update: -5.493975 deg/s,
      cmd heading: 10.611735 deg,
      new cmd heading: 9.868963 deg.

2021-08-15T01:12:56.378Z,1628989976.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:12:56.757Z,1628989976.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:12:56.757Z,1628989976.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:12:56.757Z,1628989976.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:12:56.758Z,1628989976.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:12:57.169Z,1628989977.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,00403,186,80,80,91,FF
2021-08-15T01:12:57.169Z,1628989977.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:12:57.169Z,1628989977.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:12:57.171Z,1628989977.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:12:57.577Z,1628989977.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:12:57.693Z,1628989977.693 [CTD_Seabird](ERROR): Failed to parse device response: 8
2021-08-15T01:12:57.973Z,1628989977.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,003D6,186,80,80,7C,FF
2021-08-15T01:12:57.974Z,1628989977.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:12:58.046Z,1628989978.046 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:12:58.403Z,1628989978.403 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011258.48*5D

2021-08-15T01:12:58.446Z,1628989978.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 2.795648 deg, deltaT: 4.437490 s, approachRate: -0.608452 m/s, LOS rate: 0.857462 deg/s, posRepo size: 4
2021-08-15T01:12:58.448Z,1628989978.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.420002 m,
      bearing: 2.795648 deg,
      approachRate: -0.608452 m/s,
      LOS rate: 0.857462 deg/s,
      cmd update: 3.429848 deg/s,
      cmd heading: 346.296576 deg,
      new cmd heading: 344.014296 deg.

2021-08-15T01:13:00.900Z,1628989980.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:13:01.210Z,1628989981.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:13:01.210Z,1628989981.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:13:01.210Z,1628989981.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:13:01.211Z,1628989981.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:13:01.610Z,1628989981.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,003D6,186,80,80,7C,FF
2021-08-15T01:13:01.610Z,1628989981.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:13:01.610Z,1628989981.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:13:01.611Z,1628989981.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:13:02.013Z,1628989982.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:13:02.421Z,1628989982.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,003B1,183,80,80,72,FF
2021-08-15T01:13:02.422Z,1628989982.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:13:02.441Z,1628989982.441 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:13:02.880Z,1628989982.880 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011302.87*50

2021-08-15T01:13:02.985Z,1628989982.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 5.193354 deg, deltaT: 4.395652 s, approachRate: -0.505045 m/s, LOS rate: 0.545472 deg/s, posRepo size: 4
2021-08-15T01:13:02.987Z,1628989982.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.199999 m,
      bearing: 5.193354 deg,
      approachRate: -0.505045 m/s,
      LOS rate: 0.545472 deg/s,
      cmd update: 2.181889 deg/s,
      cmd heading: 1.413960 deg,
      new cmd heading: 3.233902 deg.

2021-08-15T01:13:05.284Z,1628989985.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:13:05.645Z,1628989985.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:13:05.645Z,1628989985.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:13:05.645Z,1628989985.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:13:05.646Z,1628989985.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:13:06.053Z,1628989986.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,003B1,183,80,80,72,FF
2021-08-15T01:13:06.053Z,1628989986.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:13:06.054Z,1628989986.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:13:06.055Z,1628989986.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:13:06.456Z,1628989986.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:13:06.865Z,1628989986.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,00382,184,80,80,63,FF
2021-08-15T01:13:06.866Z,1628989986.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:13:06.978Z,1628989986.978 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:13:07.305Z,1628989987.305 [Micromodem](INFO): Nmea in: $SNTTA,0.060355,,,,011307.31*43

2021-08-15T01:13:07.339Z,1628989987.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.380001 m, bearing: 1.178211 deg, deltaT: 4.536951 s, approachRate: -0.621562 m/s, LOS rate: -0.884987 deg/s, posRepo size: 4
2021-08-15T01:13:07.341Z,1628989987.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.380001 m,
      bearing: 1.178211 deg,
      approachRate: -0.621562 m/s,
      LOS rate: -0.884987 deg/s,
      cmd update: -3.539949 deg/s,
      cmd heading: 11.288266 deg,
      new cmd heading: 12.107243 deg.

2021-08-15T01:13:09.703Z,1628989989.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:13:10.089Z,1628989990.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:13:10.089Z,1628989990.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:13:10.089Z,1628989990.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:13:10.090Z,1628989990.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:13:10.502Z,1628989990.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,00382,184,80,80,63,FF
2021-08-15T01:13:10.502Z,1628989990.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:13:10.502Z,1628989990.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:13:10.504Z,1628989990.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:13:10.925Z,1628989990.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:13:11.313Z,1628989991.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,00358,186,80,80,72,FF
2021-08-15T01:13:11.313Z,1628989991.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:13:11.333Z,1628989991.333 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:13:11.753Z,1628989991.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011311.76*5C

2021-08-15T01:13:11.800Z,1628989991.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.860000 m, bearing: 1.485061 deg, deltaT: 4.354734 s, approachRate: -0.578681 m/s, LOS rate: 0.070464 deg/s, posRepo size: 4
2021-08-15T01:13:11.802Z,1628989991.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 1.485061 deg,
      approachRate: -0.578681 m/s,
      LOS rate: 0.070464 deg/s,
      cmd update: 0.281855 deg/s,
      cmd heading: 355.832676 deg,
      new cmd heading: 354.255508 deg.

2021-08-15T01:13:14.158Z,1628989994.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:13:14.541Z,1628989994.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:13:14.542Z,1628989994.542 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:13:14.542Z,1628989994.542 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:13:14.543Z,1628989994.543 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:13:14.937Z,1628989994.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,00358,186,80,80,72,FF
2021-08-15T01:13:14.937Z,1628989994.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:13:14.937Z,1628989994.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:13:14.939Z,1628989994.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:13:15.350Z,1628989995.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:13:15.745Z,1628989995.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,0031C,187,80,80,B7,FF
2021-08-15T01:13:15.746Z,1628989995.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:13:15.802Z,1628989995.802 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:13:16.190Z,1628989996.190 [Micromodem](INFO): Nmea in: $SNTTA,0.050058,,,,011316.20*4E

2021-08-15T01:13:16.252Z,1628989996.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.260000 m, bearing: 4.613104 deg, deltaT: 4.468622 s, approachRate: -0.805617 m/s, LOS rate: 0.700002 deg/s, posRepo size: 4
2021-08-15T01:13:16.254Z,1628989996.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 4.613104 deg,
      approachRate: -0.805617 m/s,
      LOS rate: 0.700002 deg/s,
      cmd update: 2.800007 deg/s,
      cmd heading: 357.091053 deg,
      new cmd heading: 357.219077 deg.

2021-08-15T01:13:18.596Z,1628989998.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:13:18.977Z,1628989998.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:13:18.977Z,1628989998.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:13:18.977Z,1628989998.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:13:18.978Z,1628989998.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:13:19.381Z,1628989999.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,0031C,187,80,80,B7,FF
2021-08-15T01:13:19.381Z,1628989999.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:13:19.381Z,1628989999.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:13:19.383Z,1628989999.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:13:19.805Z,1628989999.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:13:20.190Z,1628990000.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,002F4,186,80,80,C0,FF
2021-08-15T01:13:20.190Z,1628990000.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:13:20.270Z,1628990000.270 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:13:20.660Z,1628990000.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011320.64*5D

2021-08-15T01:13:20.729Z,1628990000.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.859998 m, bearing: 6.383424 deg, deltaT: 4.468738 s, approachRate: -0.537065 m/s, LOS rate: 0.396157 deg/s, posRepo size: 4
2021-08-15T01:13:20.731Z,1628990000.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 6.383424 deg,
      approachRate: -0.537065 m/s,
      LOS rate: 0.396157 deg/s,
      cmd update: 1.584627 deg/s,
      cmd heading: 9.603394 deg,
      new cmd heading: 10.872102 deg.

2021-08-15T01:13:23.084Z,1628990003.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:13:23.421Z,1628990003.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:13:23.421Z,1628990003.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:13:23.421Z,1628990003.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:13:23.422Z,1628990003.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:13:23.828Z,1628990003.828 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,002F4,186,80,80,C0,FF
2021-08-15T01:13:23.828Z,1628990003.828 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:13:23.829Z,1628990003.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:13:23.830Z,1628990003.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:13:24.245Z,1628990004.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:13:25.062Z,1628990005.062 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011325.09*53

2021-08-15T01:13:25.446Z,1628990005.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,002F4,186,80,80,C0,FF
2021-08-15T01:13:25.446Z,1628990005.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:13:25.501Z,1628990005.501 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:13:25.915Z,1628990005.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.859998 m, bearing: 17.025788 deg, deltaT: 5.230669 s, approachRate: 0.000000 m/s, LOS rate: 2.034609 deg/s, posRepo size: 4
2021-08-15T01:13:25.917Z,1628990005.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 17.025788 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.034609 deg/s,
      cmd update: 8.138434 deg/s,
      cmd heading: 17.852495 deg,
      new cmd heading: 18.558487 deg.

2021-08-15T01:13:28.307Z,1628990008.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:13:28.713Z,1628990008.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:13:28.713Z,1628990008.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:13:28.713Z,1628990008.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:13:28.714Z,1628990008.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:13:29.077Z,1628990009.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,002F4,186,80,80,C0,FF
2021-08-15T01:13:29.077Z,1628990009.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:13:29.078Z,1628990009.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:13:29.079Z,1628990009.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:13:29.485Z,1628990009.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:13:29.929Z,1628990009.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,194,000,002BE,185,80,80,70,FF
2021-08-15T01:13:29.929Z,1628990009.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:13:29.997Z,1628990009.997 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:13:30.330Z,1628990010.330 [Micromodem](INFO): Nmea in: $SNTTA,0.023478,,,,011330.34*4D

2021-08-15T01:13:30.354Z,1628990010.354 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T01:13:30.355Z,1628990010.355 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T01:13:30.355Z,1628990010.355 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T01:13:30.356Z,1628990010.356 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T01:13:30.356Z,1628990010.356 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T01:13:30.360Z,1628990010.360 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 
2021-08-15T01:13:30.361Z,1628990010.361 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T01:13:30.361Z,1628990010.361 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T01:13:30.361Z,1628990010.361 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T01:13:30.367Z,1628990010.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 5.264773 deg, deltaT: 4.496022 s, approachRate: -0.720637 m/s, LOS rate: -2.615871 deg/s, posRepo size: 4
2021-08-15T01:13:30.369Z,1628990010.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 5.264773 deg,
      approachRate: -0.720637 m/s,
      LOS rate: -2.615871 deg/s,
      cmd update: -10.463485 deg/s,
      cmd heading: 54.645160 deg,
      new cmd heading: 57.684385 deg.

2021-08-15T01:13:30.771Z,1628990010.771 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T011330: (41.552319, -70.708603)
2021-08-15T01:13:30.771Z,1628990010.771 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T01:13:30.771Z,1628990010.771 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T01:13:30.772Z,1628990010.772 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T01:13:30.772Z,1628990010.772 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T01:13:30.772Z,1628990010.772 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T01:13:30.772Z,1628990010.772 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T01:13:30.772Z,1628990010.772 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T01:13:30.772Z,1628990010.772 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T01:13:31.137Z,1628990011.137 [UniversalFixResidualReporter](INFO): Fix residual: 2.9 %DT, over the last 2384.5 m. Residual distance 70.2 m at bearing 139.1 degrees. Fix at (41.5525, -70.7110) with 0.0 m made good.
2021-08-15T01:13:32.803Z,1628990012.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:13:33.117Z,1628990013.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:13:33.117Z,1628990013.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:13:33.117Z,1628990013.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:13:33.118Z,1628990013.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:13:33.526Z,1628990013.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
194,000,002BE,185,80,80,70,FF
2021-08-15T01:13:33.526Z,1628990013.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:13:33.526Z,1628990013.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:13:33.528Z,1628990013.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:13:33.953Z,1628990013.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:13:34.773Z,1628990014.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011334.78*55

2021-08-15T01:13:35.582Z,1628990015.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:13:35.949Z,1628990015.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEC,000,05A92,186,80,80,83,FF
2021-08-15T01:13:35.949Z,1628990015.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:13:36.008Z,1628990016.008 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:13:36.391Z,1628990016.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1353.660034 m, bearing: 62.051469 deg, deltaT: 6.011108 s, approachRate: 224.424515 m/s, LOS rate: 9.446960 deg/s, posRepo size: 4
2021-08-15T01:13:36.394Z,1628990016.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1353.660034 m,
      bearing: 62.051469 deg,
      approachRate: 224.424515 m/s,
      LOS rate: 9.446960 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 352.002628 deg,
      new cmd heading: 347.667240 deg.

2021-08-15T01:13:36.805Z,1628990016.805 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T01:13:36.805Z,1628990016.805 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:13:36.805Z,1628990016.805 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T01:13:36.806Z,1628990016.806 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T01:13:36.806Z,1628990016.806 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T01:13:36.806Z,1628990016.806 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T01:13:37.195Z,1628990017.195 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T01:13:37.195Z,1628990017.195 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:13:37.196Z,1628990017.196 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T01:13:37.196Z,1628990017.196 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:13:38.819Z,1628990018.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:13:39.185Z,1628990019.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:13:39.186Z,1628990019.186 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:13:39.186Z,1628990019.186 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:13:39.187Z,1628990019.187 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:13:39.593Z,1628990019.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEC,000,05A92,186,80,80,83,FF
2021-08-15T01:13:39.593Z,1628990019.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:13:39.594Z,1628990019.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:13:39.595Z,1628990019.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:13:39.997Z,1628990019.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:13:40.389Z,1628990020.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00313,186,80,80,71,FF
2021-08-15T01:13:40.390Z,1628990020.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:13:40.841Z,1628990020.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011340.85*54

2021-08-15T01:13:41.008Z,1628990021.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.719998 m, bearing: 46.810606 deg, deltaT: 4.429638 s, approachRate: -303.397278 m/s, LOS rate: -3.440657 deg/s, posRepo size: 4
2021-08-15T01:13:41.010Z,1628990021.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.719998 m,
      bearing: 46.810606 deg,
      approachRate: -303.397278 m/s,
      LOS rate: -3.440657 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 45.455838 deg,
      new cmd heading: 52.324662 deg.

2021-08-15T01:13:41.235Z,1628990021.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T01:13:41.235Z,1628990021.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:13:41.235Z,1628990021.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T01:13:41.236Z,1628990021.236 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T01:13:41.236Z,1628990021.236 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T01:13:41.236Z,1628990021.236 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T01:13:41.655Z,1628990021.655 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T01:13:41.655Z,1628990021.655 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:13:41.655Z,1628990021.655 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T01:13:41.656Z,1628990021.656 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:13:43.265Z,1628990023.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:13:43.629Z,1628990023.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:13:43.629Z,1628990023.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:13:43.630Z,1628990023.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:13:43.630Z,1628990023.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:13:44.025Z,1628990024.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00313,186,80,80,71,FF
2021-08-15T01:13:44.025Z,1628990024.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:13:44.025Z,1628990024.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:13:44.027Z,1628990024.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:13:44.442Z,1628990024.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:13:44.834Z,1628990024.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3E,000,00338,187,80,80,75,FF
2021-08-15T01:13:44.834Z,1628990024.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:13:44.970Z,1628990024.970 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:13:45.278Z,1628990025.278 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011345.28*56

2021-08-15T01:13:45.299Z,1628990025.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.940001 m, bearing: 33.447710 deg, deltaT: 4.532454 s, approachRate: 0.489802 m/s, LOS rate: -2.948270 deg/s, posRepo size: 4
2021-08-15T01:13:45.302Z,1628990025.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.940001 m,
      bearing: 33.447710 deg,
      approachRate: 0.489802 m/s,
      LOS rate: -2.948270 deg/s,
      cmd update: -11.793078 deg/s,
      cmd heading: 351.160565 deg,
      new cmd heading: 347.036309 deg.

2021-08-15T01:13:47.683Z,1628990027.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:13:48.069Z,1628990028.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:13:48.069Z,1628990028.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:13:48.069Z,1628990028.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:13:48.070Z,1628990028.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:13:48.481Z,1628990028.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3E,000,00338,187,80,80,75,FF
2021-08-15T01:13:48.481Z,1628990028.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:13:48.481Z,1628990028.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:13:48.483Z,1628990028.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:13:48.890Z,1628990028.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:13:49.281Z,1628990029.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,0035F,186,80,80,81,FF
2021-08-15T01:13:49.282Z,1628990029.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:13:49.348Z,1628990029.348 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:13:49.705Z,1628990029.705 [Micromodem](INFO): Nmea in: $SNTTA,,0.162044,,,011349.74*48

2021-08-15T01:13:49.723Z,1628990029.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.280000 m, bearing: 28.550696 deg, deltaT: 4.377957 s, approachRate: 0.534495 m/s, LOS rate: -1.118561 deg/s, posRepo size: 4
2021-08-15T01:13:49.726Z,1628990029.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.280000 m,
      bearing: 28.550696 deg,
      approachRate: 0.534495 m/s,
      LOS rate: -1.118561 deg/s,
      cmd update: -4.474245 deg/s,
      cmd heading: 299.398859 deg,
      new cmd heading: 294.935120 deg.

2021-08-15T01:13:52.133Z,1628990032.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:13:52.517Z,1628990032.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:13:52.517Z,1628990032.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:13:52.517Z,1628990032.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:13:52.518Z,1628990032.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:13:52.941Z,1628990032.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,0035F,186,80,80,81,FF
2021-08-15T01:13:52.941Z,1628990032.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:13:52.941Z,1628990032.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:13:52.943Z,1628990032.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:13:53.325Z,1628990033.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:13:53.721Z,1628990033.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,00381,185,80,80,74,FF
2021-08-15T01:13:53.722Z,1628990033.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:13:53.774Z,1628990033.774 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:13:54.158Z,1628990034.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011354.20*5E

2021-08-15T01:13:54.188Z,1628990034.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.319998 m, bearing: 9.790540 deg, deltaT: 4.425422 s, approachRate: 0.460973 m/s, LOS rate: -4.239179 deg/s, posRepo size: 4
2021-08-15T01:13:54.191Z,1628990034.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.319998 m,
      bearing: 9.790540 deg,
      approachRate: 0.460973 m/s,
      LOS rate: -4.239179 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 279.615353 deg,
      new cmd heading: 277.735508 deg.

2021-08-15T01:13:56.575Z,1628990036.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:13:56.961Z,1628990036.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:13:56.961Z,1628990036.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:13:56.961Z,1628990036.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:13:56.962Z,1628990036.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:13:57.370Z,1628990037.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,00381,185,80,80,74,FF
2021-08-15T01:13:57.370Z,1628990037.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:13:57.370Z,1628990037.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:13:57.372Z,1628990037.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:13:57.765Z,1628990037.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:13:58.182Z,1628990038.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F14,000,003AC,187,80,80,99,FF
2021-08-15T01:13:58.183Z,1628990038.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:13:58.250Z,1628990038.250 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:13:58.597Z,1628990038.597 [Micromodem](INFO): Nmea in: $SNTTA,0.135327,,,,011358.63*4A

2021-08-15T01:13:58.690Z,1628990038.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 0.903991 deg, deltaT: 4.476241 s, approachRate: 0.576376 m/s, LOS rate: -1.985270 deg/s, posRepo size: 4
2021-08-15T01:13:58.691Z,1628990038.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.90 m. Rolling out.
2021-08-15T01:13:58.691Z,1628990038.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T01:14:01.062Z,1628990041.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:14:01.417Z,1628990041.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:14:01.417Z,1628990041.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:14:01.417Z,1628990041.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:14:01.418Z,1628990041.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:14:01.810Z,1628990041.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F14,000,003AC,187,80,80,99,FF
2021-08-15T01:14:01.810Z,1628990041.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:14:01.810Z,1628990041.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:14:01.812Z,1628990041.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:14:02.222Z,1628990042.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:14:03.050Z,1628990043.050 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011403.07*5E

2021-08-15T01:14:03.899Z,1628990043.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:14:05.438Z,1628990045.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,99,FF
2021-08-15T01:14:05.438Z,1628990045.438 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,99,FF
2021-08-15T01:14:05.439Z,1628990045.439 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:14:06.677Z,1628990046.677 [PowerOnly](INFO): Powering down loadControl
2021-08-15T01:14:06.731Z,1628990046.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:14:07.054Z,1628990047.054 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:14:07.054Z,1628990047.054 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:14:07.054Z,1628990047.054 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:14:07.055Z,1628990047.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:14:07.067Z,1628990047.067 [PowerOnly](FAULT): loadControl LCB fault: LCB Watchdog Reset. Invalid Command.
2021-08-15T01:14:07.067Z,1628990047.067 [PowerOnly] Hardware Fault, FailCount= 1
2021-08-15T01:14:07.067Z,1628990047.067 [PowerOnly](ERROR): Hardware Fault
2021-08-15T01:14:07.202Z,1628990047.202 [CBIT](ERROR): Hardware Fault in component: PowerOnly
2021-08-15T01:14:07.467Z,1628990047.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,99,FF
2021-08-15T01:14:07.467Z,1628990047.467 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:14:07.467Z,1628990047.467 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:14:07.469Z,1628990047.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:14:07.516Z,1628990047.516 [PowerOnly](INFO): Powering down loadControl
2021-08-15T01:14:07.887Z,1628990047.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:14:08.277Z,1628990048.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,00410,186,80,80,58,FF
2021-08-15T01:14:08.278Z,1628990048.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:14:08.298Z,1628990048.298 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:14:08.436Z,1628990048.436 [CBIT](INFO): Clearing failed state for component PowerOnly
2021-08-15T01:14:08.436Z,1628990048.436 [PowerOnly] No Fault, FailCount= 1
2021-08-15T01:14:08.809Z,1628990048.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011408.73*56

2021-08-15T01:14:08.908Z,1628990048.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.900000 m, bearing: 331.509433 deg, deltaT: 10.047791 s, approachRate: 0.597146 m/s, LOS rate: -2.925474 deg/s, posRepo size: 4
2021-08-15T01:14:09.961Z,1628990049.961 [PowerOnly](INFO): Powering down loadControl
2021-08-15T01:14:10.841Z,1628990050.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:14:11.165Z,1628990051.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:14:11.165Z,1628990051.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:14:11.165Z,1628990051.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:14:11.166Z,1628990051.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:14:11.561Z,1628990051.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,00410,186,80,80,58,FF
2021-08-15T01:14:11.561Z,1628990051.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:14:11.561Z,1628990051.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:14:11.563Z,1628990051.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:14:11.977Z,1628990051.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:14:12.373Z,1628990052.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,234,000,00422,188,80,80,8F,FF
2021-08-15T01:14:12.374Z,1628990052.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:14:12.435Z,1628990052.435 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:14:12.809Z,1628990052.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011412.82*53

2021-08-15T01:14:12.908Z,1628990052.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.979996 m, bearing: 269.876784 deg, deltaT: 4.136917 s, approachRate: 0.261063 m/s, LOS rate: -14.898208 deg/s, posRepo size: 4
2021-08-15T01:14:15.248Z,1628990055.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:14:15.601Z,1628990055.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:14:15.601Z,1628990055.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:14:15.601Z,1628990055.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:14:15.602Z,1628990055.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:14:16.017Z,1628990056.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
234,000,00422,188,80,80,8F,FF
2021-08-15T01:14:16.018Z,1628990056.018 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:14:16.018Z,1628990056.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:14:16.028Z,1628990056.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:14:16.421Z,1628990056.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:14:16.818Z,1628990056.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,00432,186,80,80,A9,FF
2021-08-15T01:14:16.819Z,1628990056.819 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:14:16.852Z,1628990056.852 [Micromodem](INFO): Nmea in: $SNTTA,0.204109,0.203796,,,011417.29*50

2021-08-15T01:14:16.955Z,1628990056.955 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:14:17.257Z,1628990057.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.939999 m, bearing: 259.300783 deg, deltaT: 4.520446 s, approachRate: 0.212369 m/s, LOS rate: -2.339593 deg/s, posRepo size: 4
2021-08-15T01:14:19.732Z,1628990059.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:14:20.049Z,1628990060.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:14:20.049Z,1628990060.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:14:20.050Z,1628990060.050 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:14:20.051Z,1628990060.051 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:14:20.449Z,1628990060.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,00432,186,80,80,A9,FF
2021-08-15T01:14:20.449Z,1628990060.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:14:20.449Z,1628990060.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:14:20.451Z,1628990060.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:14:20.935Z,1628990060.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:14:21.273Z,1628990061.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,00441,186,80,80,7E,FF
2021-08-15T01:14:21.273Z,1628990061.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:14:21.293Z,1628990061.293 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:14:21.725Z,1628990061.725 [Micromodem](INFO): Nmea in: $SNTTA,0.033675,,,,011421.71*45

2021-08-15T01:14:21.773Z,1628990061.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.839996 m, bearing: 256.257469 deg, deltaT: 4.337753 s, approachRate: 0.207480 m/s, LOS rate: -0.701588 deg/s, posRepo size: 4
2021-08-15T01:14:24.164Z,1628990064.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:14:24.489Z,1628990064.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:14:24.489Z,1628990064.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:14:24.489Z,1628990064.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:14:24.490Z,1628990064.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:14:24.929Z,1628990064.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,00441,186,80,80,7E,FF
2021-08-15T01:14:24.929Z,1628990064.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:14:24.929Z,1628990064.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:14:24.932Z,1628990064.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:14:25.301Z,1628990065.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:14:25.733Z,1628990065.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D33,000,00449,189,80,80,5C,FF
2021-08-15T01:14:25.734Z,1628990065.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:14:25.817Z,1628990065.817 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:14:26.138Z,1628990066.138 [Micromodem](INFO): Nmea in: $SNTTA,0.197897,,,,011426.19*41

2021-08-15T01:14:26.163Z,1628990066.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.320000 m, bearing: 282.902146 deg, deltaT: 4.523763 s, approachRate: 0.106107 m/s, LOS rate: 5.889937 deg/s, posRepo size: 4
2021-08-15T01:14:28.557Z,1628990068.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:14:28.933Z,1628990068.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:14:28.933Z,1628990068.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:14:28.933Z,1628990068.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:14:28.934Z,1628990068.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:14:29.337Z,1628990069.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D33,000,00449,189,80,80,5C,FF
2021-08-15T01:14:29.337Z,1628990069.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:14:29.337Z,1628990069.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:14:29.339Z,1628990069.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:14:29.752Z,1628990069.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:14:30.153Z,1628990070.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00447,189,80,80,B2,FF
2021-08-15T01:14:30.154Z,1628990070.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:14:30.219Z,1628990070.219 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:14:30.583Z,1628990070.583 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011430.59*55

2021-08-15T01:14:30.631Z,1628990070.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.199999 m, bearing: 166.311117 deg, deltaT: 4.402396 s, approachRate: -0.027258 m/s, LOS rate: -26.483539 deg/s, posRepo size: 4
2021-08-15T01:14:33.024Z,1628990073.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:14:33.381Z,1628990073.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:14:33.381Z,1628990073.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:14:33.381Z,1628990073.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:14:33.382Z,1628990073.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:14:33.781Z,1628990073.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00447,189,80,80,B2,FF
2021-08-15T01:14:33.781Z,1628990073.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:14:33.781Z,1628990073.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:14:33.783Z,1628990073.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:14:34.199Z,1628990074.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:14:34.589Z,1628990074.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0043F,189,80,80,B7,FF
2021-08-15T01:14:34.590Z,1628990074.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:14:34.609Z,1628990074.609 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:14:35.037Z,1628990075.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011435.04*58

2021-08-15T01:14:35.084Z,1628990075.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.720001 m, bearing: 152.890219 deg, deltaT: 4.389802 s, approachRate: -0.109344 m/s, LOS rate: -3.057290 deg/s, posRepo size: 4
2021-08-15T01:14:37.435Z,1628990077.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:14:37.834Z,1628990077.834 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:14:37.835Z,1628990077.835 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:14:37.835Z,1628990077.835 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:14:37.841Z,1628990077.841 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:14:38.241Z,1628990078.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0043F,189,80,80,B7,FF
2021-08-15T01:14:38.241Z,1628990078.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:14:38.241Z,1628990078.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:14:38.243Z,1628990078.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:14:38.632Z,1628990078.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:14:39.034Z,1628990079.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0043D,189,80,80,57,FF
2021-08-15T01:14:39.034Z,1628990079.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:14:39.069Z,1628990079.069 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:14:39.469Z,1628990079.469 [Micromodem](INFO): Nmea in: $SNTTA,0.299591,,,,011439.50*44

2021-08-15T01:14:39.491Z,1628990079.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.600000 m, bearing: 155.543078 deg, deltaT: 4.460270 s, approachRate: -0.026904 m/s, LOS rate: 0.594775 deg/s, posRepo size: 4
2021-08-15T01:14:41.935Z,1628990081.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:14:42.277Z,1628990082.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:14:42.277Z,1628990082.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:14:42.277Z,1628990082.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:14:42.278Z,1628990082.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:14:42.678Z,1628990082.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0043D,189,80,80,57,FF
2021-08-15T01:14:42.678Z,1628990082.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:14:42.679Z,1628990082.679 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:14:42.680Z,1628990082.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:14:43.187Z,1628990083.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:14:43.209Z,1628990083.209 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:14:43.571Z,1628990083.571 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,47C,000,0043A,18A,80,80,8D,FF
2021-08-15T01:14:43.572Z,1628990083.572 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:14:43.704Z,1628990083.704 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:14:43.979Z,1628990083.979 [Micromodem](INFO): Nmea in: $SNTTA,0.433350,0.433719,,,011443.94*59

2021-08-15T01:14:44.054Z,1628990084.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.420002 m, bearing: 162.942618 deg, deltaT: 4.635031 s, approachRate: -0.038834 m/s, LOS rate: 1.596438 deg/s, posRepo size: 4
2021-08-15T01:14:46.428Z,1628990086.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:14:46.793Z,1628990086.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:14:46.793Z,1628990086.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:14:46.793Z,1628990086.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:14:46.794Z,1628990086.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:14:47.217Z,1628990087.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
47C,000,0043A,18A,80,80,8D,FF
2021-08-15T01:14:47.217Z,1628990087.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:14:47.217Z,1628990087.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:14:47.219Z,1628990087.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:14:47.605Z,1628990087.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:14:48.005Z,1628990088.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,44A,000,00444,189,80,80,A0,FF
2021-08-15T01:14:48.006Z,1628990088.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:14:48.095Z,1628990088.095 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:14:48.443Z,1628990088.443 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011448.47*55

2021-08-15T01:14:48.474Z,1628990088.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.020000 m, bearing: 165.743501 deg, deltaT: 4.399593 s, approachRate: 0.136376 m/s, LOS rate: 0.636623 deg/s, posRepo size: 4
2021-08-15T01:14:50.911Z,1628990090.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:14:51.245Z,1628990091.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:14:51.245Z,1628990091.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:14:51.245Z,1628990091.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:14:51.246Z,1628990091.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:14:51.667Z,1628990091.667 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
44A,000,00444,189,80,80,A0,FF
2021-08-15T01:14:51.667Z,1628990091.667 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:14:51.667Z,1628990091.667 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:14:51.695Z,1628990091.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:14:52.071Z,1628990092.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:14:52.457Z,1628990092.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,00450,186,80,80,58,FF
2021-08-15T01:14:52.458Z,1628990092.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:14:52.479Z,1628990092.479 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:14:52.941Z,1628990092.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011452.95*51

2021-08-15T01:14:52.946Z,1628990092.946 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:14:52.984Z,1628990092.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.740002 m, bearing: 230.373074 deg, deltaT: 4.375003 s, approachRate: 0.164572 m/s, LOS rate: 14.772463 deg/s, posRepo size: 4
2021-08-15T01:14:55.321Z,1628990095.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:14:55.727Z,1628990095.727 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:14:55.727Z,1628990095.727 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:14:55.727Z,1628990095.727 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:14:55.753Z,1628990095.753 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:14:56.141Z,1628990096.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,00450,186,80,80,58,FF
2021-08-15T01:14:56.141Z,1628990096.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:14:56.141Z,1628990096.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:14:56.143Z,1628990096.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:14:56.529Z,1628990096.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:14:56.933Z,1628990096.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C5,000,00461,189,80,80,8D,FF
2021-08-15T01:14:56.934Z,1628990096.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:14:56.964Z,1628990096.964 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:14:57.365Z,1628990097.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011457.40*5C

2021-08-15T01:14:57.425Z,1628990097.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.760000 m, bearing: 172.868017 deg, deltaT: 4.485482 s, approachRate: 0.227400 m/s, LOS rate: -12.820263 deg/s, posRepo size: 4
2021-08-15T01:14:58.181Z,1628990098.181 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T01:14:59.827Z,1628990099.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:15:00.182Z,1628990100.182 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:15:00.182Z,1628990100.182 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:15:00.182Z,1628990100.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:15:00.183Z,1628990100.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:15:00.573Z,1628990100.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C5,000,00461,189,80,80,8D,FF
2021-08-15T01:15:00.573Z,1628990100.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:15:00.573Z,1628990100.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:15:00.575Z,1628990100.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:15:00.981Z,1628990100.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:15:01.381Z,1628990101.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,272,000,0047A,189,80,80,59,FF
2021-08-15T01:15:01.382Z,1628990101.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:15:01.401Z,1628990101.401 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:15:01.833Z,1628990101.833 [Micromodem](INFO): Nmea in: $SNTTA,0.487788,0.487744,,,011501.83*51

2021-08-15T01:15:01.918Z,1628990101.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.259998 m, bearing: 189.951618 deg, deltaT: 4.437268 s, approachRate: 0.338045 m/s, LOS rate: 3.850027 deg/s, posRepo size: 4
2021-08-15T01:15:03.011Z,1628990103.011 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T01:15:03.955Z,1628990103.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:15:04.209Z,1628990104.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:15:04.210Z,1628990104.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:15:04.210Z,1628990104.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:15:04.211Z,1628990104.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:15:04.247Z,1628990104.247 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
272,000,0047A,189,80,80,59,FF
2021-08-15T01:15:04.247Z,1628990104.247 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:15:04.247Z,1628990104.247 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:15:04.289Z,1628990104.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:15:04.620Z,1628990104.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:15:05.017Z,1628990105.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,197,000,00499,185,80,80,7E,FF
2021-08-15T01:15:05.017Z,1628990105.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:15:05.081Z,1628990105.081 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:15:05.455Z,1628990105.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.119999 m, bearing: 200.692323 deg, deltaT: 3.679663 s, approachRate: 0.505481 m/s, LOS rate: 2.918937 deg/s, posRepo size: 4
2021-08-15T01:15:05.856Z,1628990105.856 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011505.57*5C

2021-08-15T01:15:07.928Z,1628990107.928 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-15T01:15:07.952Z,1628990107.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:15:08.265Z,1628990108.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:15:08.265Z,1628990108.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:15:08.265Z,1628990108.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:15:08.266Z,1628990108.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:15:08.653Z,1628990108.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
197,000,00499,185,80,80,7E,FF
2021-08-15T01:15:08.653Z,1628990108.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:15:08.653Z,1628990108.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:15:08.655Z,1628990108.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:15:09.076Z,1628990109.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:15:09.899Z,1628990109.899 [Micromodem](INFO): Nmea in: $SNTTA,0.445502,0.446083,,,011509.91*55

2021-08-15T01:15:10.709Z,1628990110.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:15:12.293Z,1628990112.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,185,80,80,7E,FF
2021-08-15T01:15:12.293Z,1628990112.293 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,185,80,80,7E,FF
2021-08-15T01:15:12.293Z,1628990112.293 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:15:13.107Z,1628990113.107 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:15:13.530Z,1628990113.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:15:13.930Z,1628990113.930 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:15:13.930Z,1628990113.930 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:15:13.930Z,1628990113.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:15:13.931Z,1628990113.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:15:14.313Z,1628990114.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,185,80,80,7E,FF
2021-08-15T01:15:14.313Z,1628990114.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:15:14.313Z,1628990114.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:15:14.315Z,1628990114.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:15:14.725Z,1628990114.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:15:15.125Z,1628990115.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CE,000,004DD,189,80,80,9F,FF
2021-08-15T01:15:15.126Z,1628990115.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:15:15.199Z,1628990115.199 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:15:15.565Z,1628990115.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011515.57*5D

2021-08-15T01:15:15.587Z,1628990115.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.200001 m, bearing: 184.528981 deg, deltaT: 10.122523 s, approachRate: 0.403062 m/s, LOS rate: -1.596770 deg/s, posRepo size: 4
2021-08-15T01:15:17.987Z,1628990117.987 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:15:18.023Z,1628990118.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:15:18.353Z,1628990118.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:15:18.354Z,1628990118.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:15:18.354Z,1628990118.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:15:18.355Z,1628990118.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:15:18.757Z,1628990118.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CE,000,004DD,189,80,80,9F,FF
2021-08-15T01:15:18.757Z,1628990118.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:15:18.758Z,1628990118.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:15:18.759Z,1628990118.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:15:19.161Z,1628990119.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:15:19.566Z,1628990119.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C6,000,00502,189,80,80,A5,FF
2021-08-15T01:15:19.566Z,1628990119.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:15:19.590Z,1628990119.590 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:15:20.025Z,1628990120.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.419998 m, bearing: 185.591293 deg, deltaT: 4.386412 s, approachRate: 0.506108 m/s, LOS rate: 0.242183 deg/s, posRepo size: 4
2021-08-15T01:15:22.417Z,1628990122.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:15:22.793Z,1628990122.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:15:22.793Z,1628990122.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:15:22.793Z,1628990122.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:15:22.794Z,1628990122.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:15:23.198Z,1628990123.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C6,000,00502,189,80,80,A5,FF
2021-08-15T01:15:23.198Z,1628990123.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:15:23.198Z,1628990123.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:15:23.201Z,1628990123.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:15:23.609Z,1628990123.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:15:24.002Z,1628990124.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,387,000,0052C,18A,80,80,6D,FF
2021-08-15T01:15:24.002Z,1628990124.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:15:24.005Z,1628990124.005 [Micromodem](INFO): Nmea in: $SNTTA,0.174908,0.133417,,,011524.46*5F

2021-08-15T01:15:24.197Z,1628990124.197 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:15:24.452Z,1628990124.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.940002 m, bearing: 176.229782 deg, deltaT: 4.606755 s, approachRate: 0.547024 m/s, LOS rate: -2.032127 deg/s, posRepo size: 4
2021-08-15T01:15:24.889Z,1628990124.889 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T01:15:24.889Z,1628990124.889 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:15:24.889Z,1628990124.889 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T01:15:24.890Z,1628990124.890 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T01:15:24.890Z,1628990124.890 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T01:15:24.890Z,1628990124.890 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T01:15:25.259Z,1628990125.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T01:15:25.259Z,1628990125.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:15:25.259Z,1628990125.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T01:15:25.259Z,1628990125.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:15:26.892Z,1628990126.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:15:27.249Z,1628990127.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:15:27.249Z,1628990127.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:15:27.249Z,1628990127.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:15:27.250Z,1628990127.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:15:27.656Z,1628990127.656 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
387,000,0052C,18A,80,80,6D,FF
2021-08-15T01:15:27.657Z,1628990127.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:15:27.657Z,1628990127.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:15:27.663Z,1628990127.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:15:28.055Z,1628990128.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:15:28.103Z,1628990128.103 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-15T01:15:28.445Z,1628990128.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D4,000,00554,189,80,80,78,FF
2021-08-15T01:15:28.446Z,1628990128.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:15:28.897Z,1628990128.897 [Micromodem](INFO): Nmea in: $SNTTA,0.064462,,,,011528.92*46

2021-08-15T01:15:28.923Z,1628990128.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.339996 m, bearing: 172.397963 deg, deltaT: 4.305465 s, approachRate: 0.557430 m/s, LOS rate: -0.889989 deg/s, posRepo size: 4
2021-08-15T01:15:31.302Z,1628990131.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:15:31.725Z,1628990131.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:15:31.725Z,1628990131.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:15:31.725Z,1628990131.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:15:31.726Z,1628990131.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:15:32.083Z,1628990132.083 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D4,000,00554,189,80,80,78,FF
2021-08-15T01:15:32.083Z,1628990132.083 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:15:32.083Z,1628990132.083 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:15:32.085Z,1628990132.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:15:32.501Z,1628990132.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:15:32.941Z,1628990132.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34A,000,00583,188,80,80,B1,FF
2021-08-15T01:15:32.942Z,1628990132.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:15:33.341Z,1628990133.341 [Micromodem](INFO): Nmea in: $SNTTA,0.039049,,,,011533.34*45

2021-08-15T01:15:33.385Z,1628990133.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.159996 m, bearing: 178.719495 deg, deltaT: 4.491961 s, approachRate: 0.627788 m/s, LOS rate: 1.407299 deg/s, posRepo size: 4
2021-08-15T01:15:35.809Z,1628990135.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:15:36.137Z,1628990136.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:15:36.137Z,1628990136.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:15:36.137Z,1628990136.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:15:36.138Z,1628990136.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:15:36.537Z,1628990136.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34A,000,00583,188,80,80,B1,FF
2021-08-15T01:15:36.537Z,1628990136.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:15:36.537Z,1628990136.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:15:36.539Z,1628990136.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:15:36.934Z,1628990136.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:15:37.335Z,1628990137.335 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E6,000,005AC,188,80,80,8C,FF
2021-08-15T01:15:37.335Z,1628990137.335 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:15:37.786Z,1628990137.786 [Micromodem](INFO): Nmea in: $SNTTA,0.139618,,,,011537.79*4B

2021-08-15T01:15:37.889Z,1628990137.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.619995 m, bearing: 184.637594 deg, deltaT: 4.396184 s, approachRate: 0.559576 m/s, LOS rate: 1.346190 deg/s, posRepo size: 4
2021-08-15T01:15:40.224Z,1628990140.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:15:40.571Z,1628990140.571 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:15:40.571Z,1628990140.571 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:15:40.571Z,1628990140.571 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:15:40.572Z,1628990140.572 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:15:40.977Z,1628990140.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E6,000,005AC,188,80,80,8C,FF
2021-08-15T01:15:40.977Z,1628990140.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:15:40.978Z,1628990140.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:15:40.979Z,1628990140.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:15:41.382Z,1628990141.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:15:41.785Z,1628990141.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FC,000,005DF,189,80,80,82,FF
2021-08-15T01:15:41.786Z,1628990141.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:15:42.238Z,1628990142.238 [Micromodem](INFO): Nmea in: $SNTTA,,0.241631,,,011542.24*46

2021-08-15T01:15:42.263Z,1628990142.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.680004 m, bearing: 183.557973 deg, deltaT: 4.509277 s, approachRate: 0.678603 m/s, LOS rate: -0.239422 deg/s, posRepo size: 4
2021-08-15T01:15:43.890Z,1628990143.890 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T01:15:44.650Z,1628990144.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:15:45.017Z,1628990145.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:15:45.017Z,1628990145.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:15:45.017Z,1628990145.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:15:45.018Z,1628990145.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:15:45.429Z,1628990145.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FC,000,005DF,189,80,80,82,FF
2021-08-15T01:15:45.429Z,1628990145.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:15:45.429Z,1628990145.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:15:45.431Z,1628990145.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:15:45.837Z,1628990145.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:15:46.241Z,1628990146.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,0060B,185,80,80,55,FF
2021-08-15T01:15:46.241Z,1628990146.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:15:46.665Z,1628990146.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011546.69*56

2021-08-15T01:15:46.705Z,1628990146.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.320004 m, bearing: 226.381798 deg, deltaT: 4.361415 s, approachRate: 0.605308 m/s, LOS rate: 9.818791 deg/s, posRepo size: 4
2021-08-15T01:15:47.944Z,1628990147.944 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-15T01:15:47.944Z,1628990147.944 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-15T01:15:47.944Z,1628990147.944 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-15T01:15:48.100Z,1628990148.100 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-15T01:15:48.336Z,1628990148.336 [RDI_PathfinderUp](INFO): Powering down
2021-08-15T01:15:49.088Z,1628990149.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:15:49.204Z,1628990149.204 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-15T01:15:49.205Z,1628990149.205 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-15T01:15:49.463Z,1628990149.463 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:15:49.463Z,1628990149.463 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:15:49.463Z,1628990149.463 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:15:49.464Z,1628990149.464 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:15:49.867Z,1628990149.867 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,0060B,185,80,80,55,FF
2021-08-15T01:15:49.867Z,1628990149.867 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:15:49.868Z,1628990149.868 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:15:49.869Z,1628990149.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:15:50.275Z,1628990150.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:15:50.669Z,1628990150.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D5,000,0063C,188,80,80,6B,FF
2021-08-15T01:15:50.670Z,1628990150.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:15:51.113Z,1628990151.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011551.13*5D

2021-08-15T01:15:51.135Z,1628990151.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.260006 m, bearing: 173.092976 deg, deltaT: 4.452971 s, approachRate: 0.660234 m/s, LOS rate: -11.967027 deg/s, posRepo size: 4
2021-08-15T01:15:53.517Z,1628990153.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:15:53.911Z,1628990153.911 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:15:53.911Z,1628990153.911 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:15:53.911Z,1628990153.911 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:15:53.912Z,1628990153.912 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:15:54.309Z,1628990154.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D5,000,0063C,188,80,80,6B,FF
2021-08-15T01:15:54.309Z,1628990154.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:15:54.309Z,1628990154.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:15:54.311Z,1628990154.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:15:54.722Z,1628990154.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:15:55.117Z,1628990155.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00200,18A,80,80,2F,FF
2021-08-15T01:15:55.118Z,1628990155.118 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-15T01:15:55.565Z,1628990155.565 [Micromodem](INFO): Nmea in: $SNTTA,0.017771,,,,011555.57*40

2021-08-15T01:15:56.091Z,1628990156.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:15:58.791Z,1628990158.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:15:59.161Z,1628990159.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:15:59.161Z,1628990159.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:15:59.161Z,1628990159.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:15:59.162Z,1628990159.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:15:59.565Z,1628990159.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00200,18A,80,80,2F,FF
2021-08-15T01:15:59.565Z,1628990159.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:15:59.565Z,1628990159.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:15:59.567Z,1628990159.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:15:59.972Z,1628990159.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:16:00.371Z,1628990160.371 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,006A6,186,80,80,5C,FF
2021-08-15T01:16:00.372Z,1628990160.372 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:16:00.813Z,1628990160.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011600.82*52

2021-08-15T01:16:00.835Z,1628990160.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.620003 m, bearing: 231.540408 deg, deltaT: 9.678295 s, approachRate: 0.657140 m/s, LOS rate: 6.039021 deg/s, posRepo size: 4
2021-08-15T01:16:03.233Z,1628990163.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:16:03.617Z,1628990163.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:16:03.618Z,1628990163.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:16:03.618Z,1628990163.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:16:03.636Z,1628990163.636 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:16:04.014Z,1628990164.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,006A6,186,80,80,5C,FF
2021-08-15T01:16:04.014Z,1628990164.014 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:16:04.014Z,1628990164.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:16:04.015Z,1628990164.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:16:04.408Z,1628990164.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:16:04.822Z,1628990164.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,439,000,006D8,189,80,80,71,FF
2021-08-15T01:16:04.822Z,1628990164.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:16:05.249Z,1628990165.249 [Micromodem](INFO): Nmea in: $SNTTA,0.072510,,,,011605.27*47

2021-08-15T01:16:05.283Z,1628990165.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.619995 m, bearing: 167.104594 deg, deltaT: 4.485294 s, approachRate: 0.668851 m/s, LOS rate: -14.366017 deg/s, posRepo size: 4
2021-08-15T01:16:07.747Z,1628990167.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:16:08.053Z,1628990168.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:16:08.053Z,1628990168.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:16:08.054Z,1628990168.054 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:16:08.055Z,1628990168.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:16:08.453Z,1628990168.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
439,000,006D8,189,80,80,71,FF
2021-08-15T01:16:08.454Z,1628990168.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:16:08.454Z,1628990168.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:16:08.455Z,1628990168.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:16:08.864Z,1628990168.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:16:09.266Z,1628990169.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,448,000,00708,189,80,80,73,FF
2021-08-15T01:16:09.266Z,1628990169.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:16:09.721Z,1628990169.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011609.71*57

2021-08-15T01:16:09.783Z,1628990169.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.500000 m, bearing: 167.369059 deg, deltaT: 4.409284 s, approachRate: 0.653168 m/s, LOS rate: 0.059979 deg/s, posRepo size: 4
2021-08-15T01:16:11.795Z,1628990171.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:16:12.090Z,1628990172.090 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:16:12.090Z,1628990172.090 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:16:12.091Z,1628990172.091 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:16:12.092Z,1628990172.092 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:16:12.485Z,1628990172.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
448,000,00708,189,80,80,73,FF
2021-08-15T01:16:12.485Z,1628990172.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:16:12.485Z,1628990172.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:16:12.487Z,1628990172.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:16:12.940Z,1628990172.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:16:13.743Z,1628990173.743 [Micromodem](INFO): Nmea in: $SNTTA,0.490106,,,,011613.75*4C

2021-08-15T01:16:14.616Z,1628990174.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:16:16.131Z,1628990176.131 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,73,FF
2021-08-15T01:16:16.131Z,1628990176.131 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,73,FF
2021-08-15T01:16:16.131Z,1628990176.131 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:16:17.378Z,1628990177.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:16:17.741Z,1628990177.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:16:17.741Z,1628990177.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:16:17.741Z,1628990177.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:16:17.742Z,1628990177.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:16:18.157Z,1628990178.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,73,FF
2021-08-15T01:16:18.157Z,1628990178.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:16:18.158Z,1628990178.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:16:18.159Z,1628990178.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:16:18.555Z,1628990178.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:16:18.953Z,1628990178.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,00778,186,80,80,8A,FF
2021-08-15T01:16:18.954Z,1628990178.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:16:19.403Z,1628990179.403 [Micromodem](INFO): Nmea in: $SNTTA,0.056139,,,,011619.42*40

2021-08-15T01:16:19.434Z,1628990179.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.220001 m, bearing: 214.645716 deg, deltaT: 9.732983 s, approachRate: 0.690436 m/s, LOS rate: 4.857365 deg/s, posRepo size: 4
2021-08-15T01:16:21.885Z,1628990181.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:16:22.185Z,1628990182.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:16:22.186Z,1628990182.186 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:16:22.186Z,1628990182.186 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:16:22.187Z,1628990182.187 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:16:22.609Z,1628990182.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,00778,186,80,80,8A,FF
2021-08-15T01:16:22.609Z,1628990182.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:16:22.609Z,1628990182.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:16:22.611Z,1628990182.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:16:23.025Z,1628990183.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:16:23.397Z,1628990183.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C8F,000,007AD,189,80,80,7E,FF
2021-08-15T01:16:23.398Z,1628990183.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:16:23.825Z,1628990183.825 [Micromodem](INFO): Nmea in: $SNTTA,0.081399,0.467483,,,011623.87*56

2021-08-15T01:16:23.886Z,1628990183.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.399994 m, bearing: 266.714625 deg, deltaT: 4.396935 s, approachRate: 0.723229 m/s, LOS rate: 11.842092 deg/s, posRepo size: 4
2021-08-15T01:16:25.944Z,1628990185.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:16:26.229Z,1628990186.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:16:26.229Z,1628990186.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:16:26.229Z,1628990186.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:16:26.230Z,1628990186.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:16:26.657Z,1628990186.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C8F,000,007AD,189,80,80,7E,FF
2021-08-15T01:16:26.657Z,1628990186.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:16:26.657Z,1628990186.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:16:26.659Z,1628990186.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:16:27.053Z,1628990187.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:16:27.449Z,1628990187.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF9,000,007DA,188,80,80,73,FF
2021-08-15T01:16:27.450Z,1628990187.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:16:27.865Z,1628990187.865 [Micromodem](INFO): Nmea in: $SNTTA,0.442998,0.443267,,,011627.92*5C

2021-08-15T01:16:27.960Z,1628990187.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.099998 m, bearing: 261.587858 deg, deltaT: 4.105100 s, approachRate: 0.657720 m/s, LOS rate: -1.248878 deg/s, posRepo size: 4
2021-08-15T01:16:30.304Z,1628990190.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:16:30.689Z,1628990190.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:16:30.689Z,1628990190.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:16:30.689Z,1628990190.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:16:30.690Z,1628990190.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:16:31.091Z,1628990191.091 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF9,000,007DA,188,80,80,73,FF
2021-08-15T01:16:31.091Z,1628990191.091 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:16:31.091Z,1628990191.091 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:16:31.093Z,1628990191.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:16:31.509Z,1628990191.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:16:31.897Z,1628990191.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CAD,000,0080B,189,80,80,6D,FF
2021-08-15T01:16:31.897Z,1628990191.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:16:32.333Z,1628990192.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011632.35*5F

2021-08-15T01:16:32.369Z,1628990192.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.040001 m, bearing: 265.158244 deg, deltaT: 4.461010 s, approachRate: 0.659044 m/s, LOS rate: 0.800354 deg/s, posRepo size: 4
2021-08-15T01:16:34.765Z,1628990194.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:16:35.118Z,1628990195.118 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:16:35.118Z,1628990195.118 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:16:35.119Z,1628990195.119 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:16:35.120Z,1628990195.120 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:16:35.533Z,1628990195.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CAD,000,0080B,189,80,80,6D,FF
2021-08-15T01:16:35.534Z,1628990195.534 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:16:35.534Z,1628990195.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:16:35.535Z,1628990195.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:16:35.945Z,1628990195.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:16:36.341Z,1628990196.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D88,000,00843,189,80,80,69,FF
2021-08-15T01:16:36.342Z,1628990196.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:16:36.777Z,1628990196.777 [Micromodem](INFO): Nmea in: $SNTTA,0.065042,,,,011636.79*48

2021-08-15T01:16:36.803Z,1628990196.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.400002 m, bearing: 254.396188 deg, deltaT: 4.441798 s, approachRate: 0.756451 m/s, LOS rate: -2.422905 deg/s, posRepo size: 4
2021-08-15T01:16:39.187Z,1628990199.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:16:39.588Z,1628990199.588 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:16:39.589Z,1628990199.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:16:39.589Z,1628990199.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:16:39.591Z,1628990199.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:16:39.981Z,1628990199.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D88,000,00843,189,80,80,69,FF
2021-08-15T01:16:39.981Z,1628990199.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:16:39.981Z,1628990199.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:16:39.983Z,1628990199.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:16:40.381Z,1628990200.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:16:40.785Z,1628990200.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5C,000,00876,189,80,80,51,FF
2021-08-15T01:16:40.786Z,1628990200.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:16:41.225Z,1628990201.225 [Micromodem](INFO): Nmea in: $SNTTA,0.068317,,,,011641.24*4E

2021-08-15T01:16:41.255Z,1628990201.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.459999 m, bearing: 256.079337 deg, deltaT: 4.411003 s, approachRate: 0.693719 m/s, LOS rate: 0.381580 deg/s, posRepo size: 4
2021-08-15T01:16:43.757Z,1628990203.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:16:44.019Z,1628990204.019 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:16:44.019Z,1628990204.019 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:16:44.019Z,1628990204.019 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:16:44.020Z,1628990204.020 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:16:44.417Z,1628990204.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5C,000,00876,189,80,80,51,FF
2021-08-15T01:16:44.417Z,1628990204.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:16:44.417Z,1628990204.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:16:44.419Z,1628990204.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:16:44.825Z,1628990204.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:16:45.237Z,1628990205.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9D,000,008AA,188,80,80,58,FF
2021-08-15T01:16:45.238Z,1628990205.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:16:45.701Z,1628990205.701 [Micromodem](INFO): Nmea in: $SNTTA,0.203338,,,,011645.68*40

2021-08-15T01:16:45.777Z,1628990205.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.580002 m, bearing: 253.042690 deg, deltaT: 4.420952 s, approachRate: 0.705731 m/s, LOS rate: -0.686876 deg/s, posRepo size: 4
2021-08-15T01:16:47.764Z,1628990207.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:16:48.053Z,1628990208.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:16:48.053Z,1628990208.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:16:48.053Z,1628990208.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:16:48.054Z,1628990208.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:16:48.462Z,1628990208.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9D,000,008AA,188,80,80,58,FF
2021-08-15T01:16:48.462Z,1628990208.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:16:48.462Z,1628990208.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:16:48.464Z,1628990208.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:16:48.872Z,1628990208.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:16:49.265Z,1628990209.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,008DB,186,80,80,62,FF
2021-08-15T01:16:49.266Z,1628990209.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:16:49.749Z,1628990209.749 [Micromodem](INFO): Nmea in: $SNTTA,0.070195,,,,011649.72*44

2021-08-15T01:16:49.827Z,1628990209.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.520004 m, bearing: 243.953457 deg, deltaT: 4.055200 s, approachRate: 0.724996 m/s, LOS rate: -2.241377 deg/s, posRepo size: 4
2021-08-15T01:16:51.828Z,1628990211.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:16:52.101Z,1628990212.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:16:52.101Z,1628990212.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:16:52.101Z,1628990212.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:16:52.103Z,1628990212.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:16:52.507Z,1628990212.507 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,008DB,186,80,80,62,FF
2021-08-15T01:16:52.508Z,1628990212.508 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:16:52.508Z,1628990212.508 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:16:52.510Z,1628990212.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:16:52.909Z,1628990212.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:16:53.309Z,1628990213.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,00907,188,80,80,74,FF
2021-08-15T01:16:53.309Z,1628990213.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:16:53.773Z,1628990213.773 [Micromodem](INFO): Nmea in: $SNTTA,0.082792,0.478285,,,011653.77*5C

2021-08-15T01:16:53.846Z,1628990213.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.160004 m, bearing: 249.565823 deg, deltaT: 4.016792 s, approachRate: 0.657241 m/s, LOS rate: 1.397226 deg/s, posRepo size: 4
2021-08-15T01:16:55.848Z,1628990215.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:16:56.141Z,1628990216.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:16:56.141Z,1628990216.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:16:56.142Z,1628990216.142 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:16:56.143Z,1628990216.143 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:16:56.549Z,1628990216.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,00907,188,80,80,74,FF
2021-08-15T01:16:56.550Z,1628990216.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:16:56.550Z,1628990216.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:16:56.551Z,1628990216.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:16:56.957Z,1628990216.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:16:57.358Z,1628990217.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5E,000,00938,185,80,80,7A,FF
2021-08-15T01:16:57.358Z,1628990217.358 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:16:57.769Z,1628990217.769 [Micromodem](INFO): Nmea in: $SNTTA,0.457845,0.457408,,,011657.81*56

2021-08-15T01:16:57.826Z,1628990217.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.100006 m, bearing: 243.642765 deg, deltaT: 4.070311 s, approachRate: 0.722304 m/s, LOS rate: -1.455186 deg/s, posRepo size: 4
2021-08-15T01:17:00.218Z,1628990220.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:17:00.592Z,1628990220.592 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:17:00.593Z,1628990220.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:17:00.593Z,1628990220.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:17:00.595Z,1628990220.595 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:17:00.985Z,1628990220.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5E,000,00938,185,80,80,7A,FF
2021-08-15T01:17:00.985Z,1628990220.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:17:00.986Z,1628990220.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:17:00.987Z,1628990220.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:17:01.392Z,1628990221.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:17:01.797Z,1628990221.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,0096A,187,80,80,74,FF
2021-08-15T01:17:01.797Z,1628990221.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:17:02.240Z,1628990222.240 [Micromodem](INFO): Nmea in: $SNTTA,0.280308,,,,011702.24*42

2021-08-15T01:17:02.259Z,1628990222.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.100006 m, bearing: 246.743125 deg, deltaT: 4.467774 s, approachRate: 0.671475 m/s, LOS rate: 0.693938 deg/s, posRepo size: 4
2021-08-15T01:17:04.669Z,1628990224.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:17:05.025Z,1628990225.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:17:05.025Z,1628990225.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:17:05.025Z,1628990225.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:17:05.026Z,1628990225.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:17:05.433Z,1628990225.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,0096A,187,80,80,74,FF
2021-08-15T01:17:05.433Z,1628990225.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:17:05.433Z,1628990225.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:17:05.435Z,1628990225.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:17:05.854Z,1628990225.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:17:06.245Z,1628990226.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,009A0,186,80,80,7F,FF
2021-08-15T01:17:06.246Z,1628990226.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:17:06.686Z,1628990226.686 [Micromodem](INFO): Nmea in: $SNTTA,,0.014984,,,011706.70*46

2021-08-15T01:17:06.715Z,1628990226.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.339996 m, bearing: 246.989531 deg, deltaT: 4.423337 s, approachRate: 0.732476 m/s, LOS rate: 0.055706 deg/s, posRepo size: 4
2021-08-15T01:17:09.083Z,1628990229.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:17:09.469Z,1628990229.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:17:09.469Z,1628990229.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:17:09.469Z,1628990229.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:17:09.470Z,1628990229.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:17:09.873Z,1628990229.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,009A0,186,80,80,7F,FF
2021-08-15T01:17:09.873Z,1628990229.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:17:09.873Z,1628990229.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:17:09.875Z,1628990229.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:17:10.285Z,1628990230.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:17:10.693Z,1628990230.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,009D5,185,80,80,6D,FF
2021-08-15T01:17:10.694Z,1628990230.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:17:11.117Z,1628990231.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011711.14*5C

2021-08-15T01:17:11.139Z,1628990231.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.520004 m, bearing: 244.539678 deg, deltaT: 4.432551 s, approachRate: 0.717422 m/s, LOS rate: -0.552696 deg/s, posRepo size: 4
2021-08-15T01:17:13.531Z,1628990233.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:17:13.913Z,1628990233.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:17:13.913Z,1628990233.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:17:13.913Z,1628990233.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:17:13.914Z,1628990233.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:17:14.326Z,1628990234.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,009D5,185,80,80,6D,FF
2021-08-15T01:17:14.326Z,1628990234.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:17:14.326Z,1628990234.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:17:14.327Z,1628990234.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:17:14.765Z,1628990234.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:17:15.137Z,1628990235.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,00A09,186,80,80,86,FF
2021-08-15T01:17:15.138Z,1628990235.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:17:15.565Z,1628990235.565 [Micromodem](INFO): Nmea in: $SNTTA,0.397320,,,,011715.59*43

2021-08-15T01:17:15.619Z,1628990235.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.640007 m, bearing: 244.847529 deg, deltaT: 4.487965 s, approachRate: 0.695193 m/s, LOS rate: 0.068595 deg/s, posRepo size: 4
2021-08-15T01:17:18.006Z,1628990238.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:17:18.353Z,1628990238.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:17:18.354Z,1628990238.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:17:18.354Z,1628990238.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:17:18.355Z,1628990238.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:17:18.769Z,1628990238.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,00A09,186,80,80,86,FF
2021-08-15T01:17:18.769Z,1628990238.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:17:18.769Z,1628990238.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:17:18.771Z,1628990238.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:17:19.169Z,1628990239.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:17:19.597Z,1628990239.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,00A3E,186,80,80,6D,FF
2021-08-15T01:17:19.598Z,1628990239.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:17:20.009Z,1628990240.009 [Micromodem](INFO): Nmea in: $SNTTA,0.084762,,,,011720.03*49

2021-08-15T01:17:20.032Z,1628990240.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.820000 m, bearing: 243.808411 deg, deltaT: 4.465850 s, approachRate: 0.712069 m/s, LOS rate: -0.232681 deg/s, posRepo size: 4
2021-08-15T01:17:22.415Z,1628990242.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:17:22.817Z,1628990242.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:17:22.817Z,1628990242.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:17:22.817Z,1628990242.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:17:22.818Z,1628990242.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:17:23.206Z,1628990243.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,00A3E,186,80,80,6D,FF
2021-08-15T01:17:23.206Z,1628990243.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:17:23.206Z,1628990243.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:17:23.209Z,1628990243.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:17:23.641Z,1628990243.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:17:24.033Z,1628990244.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E16,000,00A71,186,80,80,57,FF
2021-08-15T01:17:24.034Z,1628990244.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:17:24.453Z,1628990244.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011724.47*5C

2021-08-15T01:17:24.479Z,1628990244.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.879997 m, bearing: 247.233560 deg, deltaT: 4.375918 s, approachRate: 0.699281 m/s, LOS rate: 0.782727 deg/s, posRepo size: 4
2021-08-15T01:17:26.921Z,1628990246.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:17:27.253Z,1628990247.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:17:27.253Z,1628990247.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:17:27.254Z,1628990247.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:17:27.255Z,1628990247.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:17:27.657Z,1628990247.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E16,000,00A71,186,80,80,57,FF
2021-08-15T01:17:27.657Z,1628990247.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:17:27.657Z,1628990247.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:17:27.684Z,1628990247.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:17:28.056Z,1628990248.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:17:28.897Z,1628990248.897 [Micromodem](INFO): Nmea in: $SNTTA,0.446387,,,,011728.94*4A

2021-08-15T01:17:29.669Z,1628990249.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,039F6,186,80,80,80,FF
2021-08-15T01:17:29.669Z,1628990249.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:17:30.116Z,1628990250.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 852.780029 m, bearing: 242.546656 deg, deltaT: 5.646139 s, approachRate: 129.274185 m/s, LOS rate: -0.830108 deg/s, posRepo size: 4
2021-08-15T01:17:32.550Z,1628990252.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:17:32.909Z,1628990252.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:17:32.909Z,1628990252.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:17:32.909Z,1628990252.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:17:32.910Z,1628990252.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:17:33.318Z,1628990253.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,039F6,186,80,80,80,FF
2021-08-15T01:17:33.318Z,1628990253.318 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:17:33.318Z,1628990253.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:17:33.320Z,1628990253.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:17:33.721Z,1628990253.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:17:34.546Z,1628990254.546 [Micromodem](INFO): Nmea in: $SNTTA,0.089392,,,,011734.58*44

2021-08-15T01:17:34.968Z,1628990254.968 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T01:17:35.355Z,1628990255.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:17:36.949Z,1628990256.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,80,FF
2021-08-15T01:17:36.949Z,1628990256.949 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,80,FF
2021-08-15T01:17:36.949Z,1628990256.949 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:17:38.220Z,1628990258.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:17:38.576Z,1628990258.576 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:17:38.577Z,1628990258.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:17:38.577Z,1628990258.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:17:38.578Z,1628990258.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:17:38.975Z,1628990258.975 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,80,FF
2021-08-15T01:17:38.975Z,1628990258.975 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:17:38.975Z,1628990258.975 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:17:38.978Z,1628990258.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:17:39.378Z,1628990259.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:17:39.792Z,1628990259.792 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,00B27,185,80,80,75,FF
2021-08-15T01:17:39.793Z,1628990259.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:17:40.221Z,1628990260.221 [Micromodem](INFO): Nmea in: $SNTTA,0.097659,,,,011740.24*41

2021-08-15T01:17:40.244Z,1628990260.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.800003 m, bearing: 242.704953 deg, deltaT: 10.146430 s, approachRate: -70.860397 m/s, LOS rate: 0.015601 deg/s, posRepo size: 4
2021-08-15T01:17:42.738Z,1628990262.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:17:43.041Z,1628990263.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:17:43.041Z,1628990263.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:17:43.041Z,1628990263.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:17:43.042Z,1628990263.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:17:43.409Z,1628990263.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,00B27,185,80,80,75,FF
2021-08-15T01:17:43.409Z,1628990263.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:17:43.410Z,1628990263.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:17:43.411Z,1628990263.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:17:43.820Z,1628990263.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:17:44.229Z,1628990264.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8B,000,00B5C,186,80,80,66,FF
2021-08-15T01:17:44.229Z,1628990264.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:17:44.673Z,1628990264.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011744.67*58

2021-08-15T01:17:44.782Z,1628990264.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.979996 m, bearing: 241.375334 deg, deltaT: 4.427865 s, approachRate: 0.718177 m/s, LOS rate: -0.300285 deg/s, posRepo size: 4
2021-08-15T01:17:47.126Z,1628990267.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:17:47.457Z,1628990267.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:17:47.457Z,1628990267.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:17:47.458Z,1628990267.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:17:47.459Z,1628990267.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:17:47.853Z,1628990267.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8B,000,00B5C,186,80,80,66,FF
2021-08-15T01:17:47.853Z,1628990267.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:17:47.853Z,1628990267.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:17:47.855Z,1628990267.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:17:48.269Z,1628990268.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:17:49.090Z,1628990269.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011749.12*57

2021-08-15T01:17:49.925Z,1628990269.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:17:51.493Z,1628990271.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,66,FF
2021-08-15T01:17:51.493Z,1628990271.493 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,66,FF
2021-08-15T01:17:51.493Z,1628990271.493 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:17:52.812Z,1628990272.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:17:53.105Z,1628990273.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:17:53.105Z,1628990273.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:17:53.105Z,1628990273.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:17:53.106Z,1628990273.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:17:53.509Z,1628990273.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,66,FF
2021-08-15T01:17:53.509Z,1628990273.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:17:53.509Z,1628990273.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:17:53.511Z,1628990273.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:17:53.916Z,1628990273.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:17:54.325Z,1628990274.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7F,000,00BD6,186,80,80,67,FF
2021-08-15T01:17:54.326Z,1628990274.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:17:54.778Z,1628990274.778 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011754.77*58

2021-08-15T01:17:54.850Z,1628990274.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.300003 m, bearing: 241.795445 deg, deltaT: 10.071975 s, approachRate: 0.726770 m/s, LOS rate: 0.041711 deg/s, posRepo size: 4
2021-08-15T01:17:56.888Z,1628990276.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:17:57.145Z,1628990277.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:17:57.145Z,1628990277.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:17:57.145Z,1628990277.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:17:57.146Z,1628990277.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:17:57.561Z,1628990277.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7F,000,00BD6,186,80,80,67,FF
2021-08-15T01:17:57.561Z,1628990277.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:17:57.562Z,1628990277.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:17:57.567Z,1628990277.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:17:57.953Z,1628990277.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:17:58.355Z,1628990278.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7F,000,00C05,186,80,80,67,FF
2021-08-15T01:17:58.355Z,1628990278.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:17:58.805Z,1628990278.805 [Micromodem](INFO): Nmea in: $SNTTA,0.103486,,,,011758.83*49

2021-08-15T01:17:58.888Z,1628990278.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.119995 m, bearing: 241.594009 deg, deltaT: 4.036040 s, approachRate: 0.698703 m/s, LOS rate: -0.049909 deg/s, posRepo size: 4
2021-08-15T01:18:00.882Z,1628990280.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:18:01.186Z,1628990281.186 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:18:01.186Z,1628990281.186 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:18:01.186Z,1628990281.186 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:18:01.187Z,1628990281.187 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:18:01.609Z,1628990281.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7F,000,00C05,186,80,80,67,FF
2021-08-15T01:18:01.609Z,1628990281.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:18:01.609Z,1628990281.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:18:01.611Z,1628990281.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:18:02.008Z,1628990282.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:18:02.825Z,1628990282.825 [Micromodem](INFO): Nmea in: $SNTTA,0.481861,0.440571,,,011802.87*5A

2021-08-15T01:18:03.642Z,1628990283.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E79,000,03B35,187,80,80,72,FF
2021-08-15T01:18:03.642Z,1628990283.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:18:04.061Z,1628990284.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 871.920105 m, bearing: 242.390464 deg, deltaT: 5.291161 s, approachRate: 136.983185 m/s, LOS rate: 0.150526 deg/s, posRepo size: 4
2021-08-15T01:18:06.454Z,1628990286.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:18:06.849Z,1628990286.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:18:06.849Z,1628990286.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:18:06.849Z,1628990286.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:18:06.850Z,1628990286.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:18:07.265Z,1628990287.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E79,000,03B35,187,80,80,72,FF
2021-08-15T01:18:07.265Z,1628990287.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:18:07.265Z,1628990287.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:18:07.267Z,1628990287.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:18:07.672Z,1628990287.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:18:08.058Z,1628990288.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,00C77,187,80,80,72,FF
2021-08-15T01:18:08.058Z,1628990288.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:18:08.494Z,1628990288.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011808.53*58

2021-08-15T01:18:08.516Z,1628990288.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.959991 m, bearing: 243.438816 deg, deltaT: 4.436281 s, approachRate: -161.838272 m/s, LOS rate: 0.236313 deg/s, posRepo size: 4
2021-08-15T01:18:10.981Z,1628990290.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:18:11.289Z,1628990291.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:18:11.289Z,1628990291.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:18:11.289Z,1628990291.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:18:11.290Z,1628990291.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:18:11.689Z,1628990291.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,00C77,187,80,80,72,FF
2021-08-15T01:18:11.689Z,1628990291.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:18:11.689Z,1628990291.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:18:11.691Z,1628990291.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:18:12.101Z,1628990292.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:18:12.502Z,1628990292.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,00CAB,186,80,80,72,FF
2021-08-15T01:18:12.502Z,1628990292.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:18:12.921Z,1628990292.921 [Micromodem](INFO): Nmea in: $SNTTA,0.442947,0.403313,,,011812.95*57

2021-08-15T01:18:13.026Z,1628990293.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.080002 m, bearing: 243.403189 deg, deltaT: 4.415923 s, approachRate: 0.706536 m/s, LOS rate: -0.008068 deg/s, posRepo size: 4
2021-08-15T01:18:15.343Z,1628990295.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:18:15.729Z,1628990295.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:18:15.729Z,1628990295.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:18:15.729Z,1628990295.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:18:15.730Z,1628990295.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:18:16.141Z,1628990296.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,00CAB,186,80,80,72,FF
2021-08-15T01:18:16.141Z,1628990296.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:18:16.141Z,1628990296.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:18:16.143Z,1628990296.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:18:16.545Z,1628990296.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:18:16.947Z,1628990296.947 [Micromodem](INFO): Nmea in: $SNTTA,0.216449,0.216424,,,011817.40*5F

2021-08-15T01:18:18.192Z,1628990298.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:18:19.769Z,1628990299.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E43,000,090DE,186,80,80,7C,FF
2021-08-15T01:18:19.770Z,1628990299.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:18:20.215Z,1628990300.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2187.660156 m, bearing: 244.753982 deg, deltaT: 7.298732 s, approachRate: 278.209991 m/s, LOS rate: 0.185072 deg/s, posRepo size: 4
2021-08-15T01:18:20.215Z,1628990300.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2187.66 m. Resuming terminal guidance.
2021-08-15T01:18:20.215Z,1628990300.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T01:18:22.733Z,1628990302.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:18:23.004Z,1628990303.004 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:18:23.004Z,1628990303.004 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:18:23.007Z,1628990303.007 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:18:23.014Z,1628990303.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:18:23.413Z,1628990303.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E43,000,090DE,186,80,80,7C,FF
2021-08-15T01:18:23.413Z,1628990303.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:18:23.413Z,1628990303.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:18:23.415Z,1628990303.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:18:23.821Z,1628990303.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:18:23.842Z,1628990303.842 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T01:18:24.218Z,1628990304.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E48,000,00DDE,186,80,80,7C,FF
2021-08-15T01:18:24.218Z,1628990304.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:18:24.673Z,1628990304.673 [Micromodem](INFO): Nmea in: $SNTTA,0.130208,,,,011824.67*47

2021-08-15T01:18:24.774Z,1628990304.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.500015 m, bearing: 245.486206 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T01:18:24.775Z,1628990304.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 245.486206deg and heading rate command to 0 deg/s.
2021-08-15T01:18:27.094Z,1628990307.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:18:27.445Z,1628990307.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:18:27.445Z,1628990307.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:18:27.445Z,1628990307.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:18:27.446Z,1628990307.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:18:27.849Z,1628990307.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E48,000,00DDE,186,80,80,7C,FF
2021-08-15T01:18:27.849Z,1628990307.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:18:27.849Z,1628990307.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:18:27.851Z,1628990307.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:18:28.253Z,1628990308.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:18:28.681Z,1628990308.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E18,000,00D6E,187,80,80,7C,FF
2021-08-15T01:18:28.682Z,1628990308.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:18:29.093Z,1628990309.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011829.11*5D

2021-08-15T01:18:29.146Z,1628990309.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.779999 m, bearing: 251.225149 deg, deltaT: 4.506528 s, approachRate: -1.491174 m/s, LOS rate: 1.273473 deg/s, posRepo size: 2
2021-08-15T01:18:29.148Z,1628990309.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.779999 m,
      bearing: 251.225149 deg,
      approachRate: -1.491174 m/s,
      LOS rate: 1.273473 deg/s,
      cmd update: 5.093894 deg/s,
      cmd heading: 245.486206 deg,
      new cmd heading: 245.486206 deg.

2021-08-15T01:18:31.511Z,1628990311.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:18:31.897Z,1628990311.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:18:31.897Z,1628990311.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:18:31.897Z,1628990311.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:18:31.898Z,1628990311.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:18:32.297Z,1628990312.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E18,000,00D6E,187,80,80,7C,FF
2021-08-15T01:18:32.297Z,1628990312.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:18:32.297Z,1628990312.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:18:32.299Z,1628990312.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:18:32.745Z,1628990312.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:18:32.761Z,1628990312.761 [Micromodem](INFO): Nmea in: 0.20.0.39330*73

2021-08-15T01:18:32.761Z,1628990312.761 [Micromodem](ERROR): Response from modem failed NMEA checksum: 0.20.0.39330*73
 expected 0
2021-08-15T01:18:33.106Z,1628990313.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,00D6E,187,80,80,7C,FF
2021-08-15T01:18:33.106Z,1628990313.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:18:33.556Z,1628990313.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.779999 m, bearing: 254.151312 deg, deltaT: 4.382491 s, approachRate: 0.000000 m/s, LOS rate: 0.667694 deg/s, posRepo size: 3
2021-08-15T01:18:33.563Z,1628990313.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.779999 m,
      bearing: 254.151312 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.667694 deg/s,
      cmd update: 2.670775 deg/s,
      cmd heading: 267.847049 deg,
      new cmd heading: 269.869773 deg.

2021-08-15T01:18:33.941Z,1628990313.941 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-15T01:18:35.994Z,1628990315.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:18:36.337Z,1628990316.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:18:36.338Z,1628990316.338 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:18:36.338Z,1628990316.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:18:36.339Z,1628990316.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:18:36.769Z,1628990316.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,00D6E,187,80,80,7C,FF
2021-08-15T01:18:36.769Z,1628990316.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:18:36.769Z,1628990316.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:18:36.771Z,1628990316.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:18:37.278Z,1628990317.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:18:38.071Z,1628990318.071 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011838.03*5E

2021-08-15T01:18:38.487Z,1628990318.487 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,035D1,185,80,80,44,FF
2021-08-15T01:18:38.487Z,1628990318.487 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:18:38.960Z,1628990318.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 789.119995 m, bearing: 284.523824 deg, deltaT: 5.343000 s, approachRate: 116.103310 m/s, LOS rate: 5.684543 deg/s, posRepo size: 4
2021-08-15T01:18:38.962Z,1628990318.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 789.119995 m,
      bearing: 284.523824 deg,
      approachRate: 116.103310 m/s,
      LOS rate: 5.684543 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 282.126654 deg,
      new cmd heading: 283.342557 deg.

2021-08-15T01:18:41.324Z,1628990321.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:18:41.718Z,1628990321.718 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:18:41.718Z,1628990321.718 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:18:41.718Z,1628990321.718 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:18:41.719Z,1628990321.719 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:18:42.110Z,1628990322.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,035D1,185,80,80,44,FF
2021-08-15T01:18:42.110Z,1628990322.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:18:42.110Z,1628990322.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:18:42.112Z,1628990322.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:18:42.520Z,1628990322.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:18:42.918Z,1628990322.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,035D1,185,80,80,44,FF
2021-08-15T01:18:42.919Z,1628990322.919 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:18:42.923Z,1628990322.923 [Micromodem](INFO): Nmea in: $SNTTA,0.230667,0.231111,,,011843.37*52

2021-08-15T01:18:43.378Z,1628990323.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 789.119995 m, bearing: 301.329068 deg, deltaT: 4.557254 s, approachRate: 0.000000 m/s, LOS rate: 3.687581 deg/s, posRepo size: 4
2021-08-15T01:18:43.384Z,1628990323.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 789.119995 m,
      bearing: 301.329068 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.687581 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 336.769423 deg,
      new cmd heading: 340.608979 deg.

2021-08-15T01:18:45.842Z,1628990325.842 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:18:45.876Z,1628990325.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:18:46.167Z,1628990326.167 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:18:46.167Z,1628990326.167 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:18:46.167Z,1628990326.167 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:18:46.168Z,1628990326.168 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:18:46.587Z,1628990326.587 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,035D1,185,80,80,44,FF
2021-08-15T01:18:46.587Z,1628990326.587 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:18:46.592Z,1628990326.592 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:18:46.601Z,1628990326.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:18:46.973Z,1628990326.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:18:47.801Z,1628990327.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D69,000,00E2F,189,80,80,A4,FF
2021-08-15T01:18:47.801Z,1628990327.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:18:47.804Z,1628990327.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011847.86*5B

2021-08-15T01:18:48.244Z,1628990328.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.360001 m, bearing: 338.439808 deg, deltaT: 4.767594 s, approachRate: -127.687050 m/s, LOS rate: 7.783956 deg/s, posRepo size: 4
2021-08-15T01:18:48.246Z,1628990328.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.360001 m,
      bearing: 338.439808 deg,
      approachRate: -127.687050 m/s,
      LOS rate: 7.783956 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 34.029777 deg,
      new cmd heading: 38.949345 deg.

2021-08-15T01:18:50.747Z,1628990330.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:18:51.013Z,1628990331.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:18:51.013Z,1628990331.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:18:51.013Z,1628990331.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:18:51.014Z,1628990331.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:18:51.417Z,1628990331.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D69,000,00E2F,189,80,80,A4,FF
2021-08-15T01:18:51.417Z,1628990331.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:18:51.417Z,1628990331.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:18:51.419Z,1628990331.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:18:51.831Z,1628990331.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:18:52.231Z,1628990332.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,00E2F,189,80,80,A4,FF
2021-08-15T01:18:52.232Z,1628990332.232 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:18:52.676Z,1628990332.676 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011852.68*5F

2021-08-15T01:18:52.752Z,1628990332.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.360001 m, bearing: 349.595173 deg, deltaT: 4.456033 s, approachRate: 0.000000 m/s, LOS rate: 2.503430 deg/s, posRepo size: 4
2021-08-15T01:18:52.754Z,1628990332.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.360001 m,
      bearing: 349.595173 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.503430 deg/s,
      cmd update: 10.013719 deg/s,
      cmd heading: 87.448186 deg,
      new cmd heading: 93.088822 deg.

2021-08-15T01:18:55.109Z,1628990335.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:18:55.452Z,1628990335.452 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:18:55.452Z,1628990335.452 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:18:55.453Z,1628990335.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:18:55.454Z,1628990335.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:18:55.854Z,1628990335.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,00E2F,189,80,80,A4,FF
2021-08-15T01:18:55.854Z,1628990335.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:18:55.854Z,1628990335.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:18:55.856Z,1628990335.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:18:56.277Z,1628990336.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:18:56.665Z,1628990336.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,00E2F,189,80,80,A4,FF
2021-08-15T01:18:56.666Z,1628990336.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:18:57.109Z,1628990337.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011857.11*54

2021-08-15T01:18:57.173Z,1628990337.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.360001 m, bearing: 8.261982 deg, deltaT: 4.505549 s, approachRate: 0.000000 m/s, LOS rate: 4.143072 deg/s, posRepo size: 4
2021-08-15T01:18:57.181Z,1628990337.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.360001 m,
      bearing: 8.261982 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.143072 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 132.570404 deg,
      new cmd heading: 136.389716 deg.

2021-08-15T01:18:59.531Z,1628990339.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:18:59.897Z,1628990339.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:18:59.897Z,1628990339.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:18:59.897Z,1628990339.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:18:59.898Z,1628990339.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:19:00.301Z,1628990340.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,00E2F,189,80,80,A4,FF
2021-08-15T01:19:00.301Z,1628990340.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:19:00.301Z,1628990340.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:19:00.303Z,1628990340.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:19:00.761Z,1628990340.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:19:01.541Z,1628990341.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00E3E,18A,80,80,C0,FF
2021-08-15T01:19:01.541Z,1628990341.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:19:01.553Z,1628990341.553 [Micromodem](INFO): Nmea in: $SNTTA,,0.094897,,,011901.56*40

2021-08-15T01:19:01.974Z,1628990341.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 70.713631 deg, deltaT: 4.834489 s, approachRate: 0.186164 m/s, LOS rate: 12.917943 deg/s, posRepo size: 4
2021-08-15T01:19:01.974Z,1628990341.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.917943 deg/s. Setting heading cmd to target bearing of 70.713631deg and heading rate command to 0 deg/s.
2021-08-15T01:19:04.381Z,1628990344.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:19:04.769Z,1628990344.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:19:04.770Z,1628990344.770 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:19:04.770Z,1628990344.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:19:04.771Z,1628990344.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:19:05.149Z,1628990345.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00E3E,18A,80,80,C0,FF
2021-08-15T01:19:05.149Z,1628990345.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:19:05.149Z,1628990345.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:19:05.151Z,1628990345.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:19:05.563Z,1628990345.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:19:05.968Z,1628990345.968 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3C,000,00E3E,18A,80,80,C0,FF
2021-08-15T01:19:05.969Z,1628990345.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:19:05.973Z,1628990345.973 [Micromodem](INFO): Nmea in: $SNTTA,0.121567,0.296676,,,011906.41*58

2021-08-15T01:19:06.400Z,1628990346.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 59.811017 deg, deltaT: 4.404204 s, approachRate: 0.000000 m/s, LOS rate: -2.475502 deg/s, posRepo size: 4
2021-08-15T01:19:06.402Z,1628990346.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.260010 m,
      bearing: 59.811017 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.475502 deg/s,
      cmd update: -9.902007 deg/s,
      cmd heading: 70.713631 deg,
      new cmd heading: 70.713631 deg.

2021-08-15T01:19:08.906Z,1628990348.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:19:09.193Z,1628990349.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:19:09.194Z,1628990349.194 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:19:09.194Z,1628990349.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:19:09.195Z,1628990349.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:19:09.622Z,1628990349.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3C,000,00E3E,18A,80,80,C0,FF
2021-08-15T01:19:09.623Z,1628990349.623 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:19:09.623Z,1628990349.623 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:19:09.625Z,1628990349.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:19:10.008Z,1628990350.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:19:10.811Z,1628990350.811 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,00DFF,189,80,80,96,FF
2021-08-15T01:19:10.828Z,1628990350.828 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:19:10.831Z,1628990350.831 [Micromodem](INFO): Nmea in: $SNTTA,0.120924,,,,011910.88*44

2021-08-15T01:19:11.247Z,1628990351.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.479996 m, bearing: 16.141542 deg, deltaT: 4.905510 s, approachRate: -0.770565 m/s, LOS rate: -8.902128 deg/s, posRepo size: 4
2021-08-15T01:19:11.250Z,1628990351.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.479996 m,
      bearing: 16.141542 deg,
      approachRate: -0.770565 m/s,
      LOS rate: -8.902128 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 22.142604 deg,
      new cmd heading: 19.012243 deg.

2021-08-15T01:19:13.703Z,1628990353.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:19:14.037Z,1628990354.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:19:14.037Z,1628990354.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:19:14.037Z,1628990354.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:19:14.038Z,1628990354.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:19:14.449Z,1628990354.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,00DFF,189,80,80,96,FF
2021-08-15T01:19:14.449Z,1628990354.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:19:14.449Z,1628990354.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:19:14.451Z,1628990354.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:19:14.856Z,1628990354.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:19:15.258Z,1628990355.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,00DFF,189,80,80,96,FF
2021-08-15T01:19:15.258Z,1628990355.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:19:15.697Z,1628990355.697 [Micromodem](INFO): Nmea in: $SNTTA,0.119110,,,,011915.71*42

2021-08-15T01:19:15.747Z,1628990355.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.479996 m, bearing: 65.775719 deg, deltaT: 4.351184 s, approachRate: 0.000000 m/s, LOS rate: 11.407051 deg/s, posRepo size: 4
2021-08-15T01:19:15.749Z,1628990355.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.479996 m,
      bearing: 65.775719 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 11.407051 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 329.898910 deg,
      new cmd heading: 324.356194 deg.

2021-08-15T01:19:18.144Z,1628990358.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:19:18.489Z,1628990358.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:19:18.489Z,1628990358.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:19:18.490Z,1628990358.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:19:18.491Z,1628990358.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:19:18.893Z,1628990358.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,00DFF,189,80,80,96,FF
2021-08-15T01:19:18.893Z,1628990358.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:19:18.893Z,1628990358.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:19:18.895Z,1628990358.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:19:19.297Z,1628990359.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:19:19.710Z,1628990359.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,007,000,00DAD,189,80,80,96,FF
2021-08-15T01:19:19.710Z,1628990359.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:19:20.137Z,1628990360.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011920.15*51

2021-08-15T01:19:20.176Z,1628990360.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.559998 m, bearing: 64.532160 deg, deltaT: 4.479892 s, approachRate: -1.098240 m/s, LOS rate: -0.277587 deg/s, posRepo size: 4
2021-08-15T01:19:20.179Z,1628990360.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.559998 m,
      bearing: 64.532160 deg,
      approachRate: -1.098240 m/s,
      LOS rate: -0.277587 deg/s,
      cmd update: -1.110347 deg/s,
      cmd heading: 23.677020 deg,
      new cmd heading: 28.578672 deg.

2021-08-15T01:19:22.640Z,1628990362.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:19:22.993Z,1628990362.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:19:22.993Z,1628990362.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:19:22.993Z,1628990362.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:19:22.994Z,1628990362.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:19:23.393Z,1628990363.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
007,000,00DAD,189,80,80,96,FF
2021-08-15T01:19:23.393Z,1628990363.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:19:23.394Z,1628990363.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:19:23.395Z,1628990363.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:19:23.808Z,1628990363.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:19:24.201Z,1628990364.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E80,000,00DAD,189,80,80,96,FF
2021-08-15T01:19:24.201Z,1628990364.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:19:24.673Z,1628990364.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011924.66*51

2021-08-15T01:19:24.752Z,1628990364.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.559998 m, bearing: 66.924639 deg, deltaT: 4.484476 s, approachRate: 0.000000 m/s, LOS rate: 0.533502 deg/s, posRepo size: 4
2021-08-15T01:19:24.754Z,1628990364.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.559998 m,
      bearing: 66.924639 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.533502 deg/s,
      cmd update: 2.134010 deg/s,
      cmd heading: 18.702446 deg,
      new cmd heading: 18.141639 deg.

2021-08-15T01:19:27.086Z,1628990367.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:19:27.431Z,1628990367.431 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:19:27.431Z,1628990367.431 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:19:27.431Z,1628990367.431 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:19:27.432Z,1628990367.432 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:19:27.835Z,1628990367.835 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E80,000,00DAD,189,80,80,96,FF
2021-08-15T01:19:27.835Z,1628990367.835 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:19:27.835Z,1628990367.835 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:19:27.837Z,1628990367.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:19:28.252Z,1628990368.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:19:29.073Z,1628990369.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011929.10*5D

2021-08-15T01:19:29.861Z,1628990369.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,147,000,03B47,186,80,80,7E,FF
2021-08-15T01:19:29.861Z,1628990369.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:19:30.296Z,1628990370.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 873.000000 m, bearing: 12.442904 deg, deltaT: 5.636627 s, approachRate: 124.265808 m/s, LOS rate: -9.665663 deg/s, posRepo size: 4
2021-08-15T01:19:30.298Z,1628990370.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 873.000000 m,
      bearing: 12.442904 deg,
      approachRate: 124.265808 m/s,
      LOS rate: -9.665663 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 30.740827 deg,
      new cmd heading: 31.611234 deg.

2021-08-15T01:19:31.105Z,1628990371.105 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T01:19:32.789Z,1628990372.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:19:33.117Z,1628990373.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:19:33.117Z,1628990373.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:19:33.117Z,1628990373.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:19:33.118Z,1628990373.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:19:33.501Z,1628990373.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
147,000,03B47,186,80,80,7E,FF
2021-08-15T01:19:33.501Z,1628990373.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:19:33.502Z,1628990373.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:19:33.503Z,1628990373.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:19:33.898Z,1628990373.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:19:34.314Z,1628990374.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B9D,000,00D2D,186,80,80,7E,FF
2021-08-15T01:19:34.315Z,1628990374.315 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:19:34.769Z,1628990374.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011934.76*51

2021-08-15T01:19:34.847Z,1628990374.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.880005 m, bearing: 76.572377 deg, deltaT: 4.485318 s, approachRate: -157.875092 m/s, LOS rate: 14.297643 deg/s, posRepo size: 4
2021-08-15T01:19:34.852Z,1628990374.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.297643 deg/s. Setting heading cmd to target bearing of 76.572377deg and heading rate command to 0 deg/s.
2021-08-15T01:19:37.175Z,1628990377.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:19:37.537Z,1628990377.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:19:37.537Z,1628990377.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:19:37.537Z,1628990377.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:19:37.538Z,1628990377.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:19:37.939Z,1628990377.939 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B9D,000,00D2D,186,80,80,7E,FF
2021-08-15T01:19:37.939Z,1628990377.939 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:19:37.939Z,1628990377.939 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:19:37.941Z,1628990377.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:19:38.357Z,1628990378.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:19:38.781Z,1628990378.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B5F,000,00D17,189,80,80,B8,FF
2021-08-15T01:19:38.782Z,1628990378.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:19:38.785Z,1628990378.785 [Micromodem](INFO): Nmea in: $SNTTA,0.110998,0.275097,,,011939.20*59

2021-08-15T01:19:39.201Z,1628990379.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.559998 m, bearing: 67.254359 deg, deltaT: 4.499776 s, approachRate: -0.293350 m/s, LOS rate: -2.070774 deg/s, posRepo size: 4
2021-08-15T01:19:39.210Z,1628990379.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.559998 m,
      bearing: 67.254359 deg,
      approachRate: -0.293350 m/s,
      LOS rate: -2.070774 deg/s,
      cmd update: -8.283094 deg/s,
      cmd heading: 76.572377 deg,
      new cmd heading: 76.572377 deg.

2021-08-15T01:19:41.643Z,1628990381.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:19:41.973Z,1628990381.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:19:41.973Z,1628990381.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:19:41.973Z,1628990381.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:19:41.974Z,1628990381.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:19:42.386Z,1628990382.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B5F,000,00D17,189,80,80,B8,FF
2021-08-15T01:19:42.387Z,1628990382.387 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:19:42.387Z,1628990382.387 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:19:42.399Z,1628990382.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:19:42.794Z,1628990382.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:19:43.187Z,1628990383.187 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,A5F,000,00D17,189,80,80,B8,FF
2021-08-15T01:19:43.187Z,1628990383.187 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:19:43.633Z,1628990383.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011943.66*50

2021-08-15T01:19:43.661Z,1628990383.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.559998 m, bearing: 69.920291 deg, deltaT: 4.386339 s, approachRate: 0.000000 m/s, LOS rate: 0.607781 deg/s, posRepo size: 4
2021-08-15T01:19:43.663Z,1628990383.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.559998 m,
      bearing: 69.920291 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.607781 deg/s,
      cmd update: 2.431123 deg/s,
      cmd heading: 40.255722 deg,
      new cmd heading: 36.902419 deg.

2021-08-15T01:19:46.036Z,1628990386.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:19:46.434Z,1628990386.434 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:19:46.435Z,1628990386.435 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:19:46.435Z,1628990386.435 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:19:46.435Z,1628990386.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:19:46.829Z,1628990386.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
A5F,000,00D17,189,80,80,B8,FF
2021-08-15T01:19:46.830Z,1628990386.830 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:19:46.830Z,1628990386.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:19:46.832Z,1628990386.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:19:47.239Z,1628990387.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:19:47.651Z,1628990387.651 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00CFE,189,80,80,B8,FF
2021-08-15T01:19:47.652Z,1628990387.652 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:19:48.107Z,1628990388.107 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011948.09*52

2021-08-15T01:19:48.123Z,1628990388.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.059998 m, bearing: 73.460515 deg, deltaT: 4.455733 s, approachRate: -0.336645 m/s, LOS rate: 0.794532 deg/s, posRepo size: 4
2021-08-15T01:19:48.125Z,1628990388.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.059998 m,
      bearing: 73.460515 deg,
      approachRate: -0.336645 m/s,
      LOS rate: 0.794532 deg/s,
      cmd update: 3.178129 deg/s,
      cmd heading: 51.088095 deg,
      new cmd heading: 52.088855 deg.

2021-08-15T01:19:50.513Z,1628990390.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:19:50.869Z,1628990390.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:19:50.869Z,1628990390.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:19:50.870Z,1628990390.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:19:50.871Z,1628990390.871 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:19:51.265Z,1628990391.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00CFE,189,80,80,B8,FF
2021-08-15T01:19:51.265Z,1628990391.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:19:51.265Z,1628990391.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:19:51.267Z,1628990391.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:19:51.681Z,1628990391.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:19:52.074Z,1628990392.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCA,000,00CE8,189,80,80,B8,FF
2021-08-15T01:19:52.074Z,1628990392.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:19:52.529Z,1628990392.529 [Micromodem](INFO): Nmea in: $SNTTA,0.109184,,,,011952.53*4D

2021-08-15T01:19:52.597Z,1628990392.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.739990 m, bearing: 67.405375 deg, deltaT: 4.447006 s, approachRate: -0.296831 m/s, LOS rate: -1.361622 deg/s, posRepo size: 4
2021-08-15T01:19:52.599Z,1628990392.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.739990 m,
      bearing: 67.405375 deg,
      approachRate: -0.296831 m/s,
      LOS rate: -1.361622 deg/s,
      cmd update: -5.446487 deg/s,
      cmd heading: 65.201531 deg,
      new cmd heading: 66.597467 deg.

2021-08-15T01:19:54.973Z,1628990394.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:19:55.305Z,1628990395.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:19:55.305Z,1628990395.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:19:55.305Z,1628990395.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:19:55.306Z,1628990395.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:19:55.717Z,1628990395.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCA,000,00CE8,189,80,80,B8,FF
2021-08-15T01:19:55.718Z,1628990395.718 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:19:55.718Z,1628990395.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:19:55.719Z,1628990395.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:19:56.128Z,1628990396.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:19:56.526Z,1628990396.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CA,000,00CC5,187,80,80,B8,FF
2021-08-15T01:19:56.526Z,1628990396.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:19:56.941Z,1628990396.941 [Micromodem](INFO): Nmea in: $SNTTA,0.385449,0.385368,,,011956.98*51

2021-08-15T01:19:57.098Z,1628990397.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.639999 m, bearing: 21.340356 deg, deltaT: 4.445784 s, approachRate: -0.472356 m/s, LOS rate: -10.361506 deg/s, posRepo size: 4
2021-08-15T01:19:57.108Z,1628990397.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.639999 m,
      bearing: 21.340356 deg,
      approachRate: -0.472356 m/s,
      LOS rate: -10.361506 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 40.953459 deg,
      new cmd heading: 38.262366 deg.

2021-08-15T01:19:59.379Z,1628990399.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:19:59.761Z,1628990399.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:19:59.761Z,1628990399.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:19:59.761Z,1628990399.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:19:59.762Z,1628990399.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:20:00.159Z,1628990400.159 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CA,000,00CC5,187,80,80,B8,FF
2021-08-15T01:20:00.159Z,1628990400.159 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:20:00.159Z,1628990400.159 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:20:00.161Z,1628990400.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:20:00.601Z,1628990400.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:20:00.974Z,1628990400.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,270,000,00C9F,189,80,80,B8,FF
2021-08-15T01:20:00.975Z,1628990400.975 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:20:01.403Z,1628990401.403 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012001.42*5A

2021-08-15T01:20:01.431Z,1628990401.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.360016 m, bearing: 19.139604 deg, deltaT: 4.475308 s, approachRate: -0.509458 m/s, LOS rate: -0.491754 deg/s, posRepo size: 4
2021-08-15T01:20:01.433Z,1628990401.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.360016 m,
      bearing: 19.139604 deg,
      approachRate: -0.509458 m/s,
      LOS rate: -0.491754 deg/s,
      cmd update: -1.967017 deg/s,
      cmd heading: 347.352086 deg,
      new cmd heading: 343.027838 deg.

2021-08-15T01:20:03.842Z,1628990403.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:20:04.202Z,1628990404.202 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:20:04.202Z,1628990404.202 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:20:04.202Z,1628990404.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:20:04.203Z,1628990404.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:20:04.625Z,1628990404.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
270,000,00C9F,189,80,80,B8,FF
2021-08-15T01:20:04.626Z,1628990404.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:20:04.626Z,1628990404.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:20:04.628Z,1628990404.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:20:05.013Z,1628990405.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:20:05.406Z,1628990405.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C70,000,00C9F,189,80,80,B8,FF
2021-08-15T01:20:05.406Z,1628990405.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:20:05.827Z,1628990405.827 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012005.89*59

2021-08-15T01:20:05.879Z,1628990405.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.360016 m, bearing: 78.949610 deg, deltaT: 4.393689 s, approachRate: 0.000000 m/s, LOS rate: 13.612708 deg/s, posRepo size: 4
2021-08-15T01:20:05.897Z,1628990405.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.612708 deg/s. Setting heading cmd to target bearing of 78.949610deg and heading rate command to 0 deg/s.
2021-08-15T01:20:08.275Z,1628990408.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:20:08.647Z,1628990408.647 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:20:08.648Z,1628990408.648 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:20:08.648Z,1628990408.648 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:20:08.649Z,1628990408.649 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:20:09.049Z,1628990409.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C70,000,00C9F,189,80,80,B8,FF
2021-08-15T01:20:09.049Z,1628990409.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:20:09.049Z,1628990409.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:20:09.051Z,1628990409.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:20:09.449Z,1628990409.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:20:10.286Z,1628990410.286 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012010.32*5D

2021-08-15T01:20:11.126Z,1628990411.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:20:12.709Z,1628990412.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,B8,FF
2021-08-15T01:20:12.710Z,1628990412.710 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,B8,FF
2021-08-15T01:20:12.710Z,1628990412.710 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:20:13.933Z,1628990413.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:20:14.293Z,1628990414.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:20:14.293Z,1628990414.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:20:14.293Z,1628990414.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:20:14.294Z,1628990414.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:20:14.729Z,1628990414.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,B8,FF
2021-08-15T01:20:14.729Z,1628990414.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:20:14.729Z,1628990414.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:20:14.731Z,1628990414.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:20:14.777Z,1628990414.777 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:20:15.108Z,1628990415.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:20:15.509Z,1628990415.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,0,63,E4
F,189,80,80,B8,FF
2021-08-15T01:20:15.510Z,1628990415.510 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,AFD,0,63,E4
F,189,80,80,B8,FF
2021-08-15T01:20:15.935Z,1628990415.935 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012015.99*59

2021-08-15T01:20:16.845Z,1628990416.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:20:19.605Z,1628990419.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:20:20.372Z,1628990420.372 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.077857
2021-08-15T01:20:22.399Z,1628990422.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:20:22.777Z,1628990422.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:20:22.777Z,1628990422.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:20:22.777Z,1628990422.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:20:22.778Z,1628990422.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:20:23.190Z,1628990423.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,0,63,E4
F,189,80,80,B8,FF
2021-08-15T01:20:23.190Z,1628990423.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:20:23.190Z,1628990423.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:20:23.193Z,1628990423.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:20:23.608Z,1628990423.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:20:23.990Z,1628990423.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5C,000,00C22,189,80,80,B8,FF
2021-08-15T01:20:23.991Z,1628990423.991 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:20:24.433Z,1628990424.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012024.45*5A

2021-08-15T01:20:24.450Z,1628990424.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.860001 m, bearing: 71.669175 deg, deltaT: 18.565727 s, approachRate: -0.403971 m/s, LOS rate: -0.392144 deg/s, posRepo size: 4
2021-08-15T01:20:24.452Z,1628990424.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.860001 m,
      bearing: 71.669175 deg,
      approachRate: -0.403971 m/s,
      LOS rate: -0.392144 deg/s,
      cmd update: -1.568575 deg/s,
      cmd heading: 78.949610 deg,
      new cmd heading: 78.949610 deg.

2021-08-15T01:20:26.878Z,1628990426.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:20:27.233Z,1628990427.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:20:27.233Z,1628990427.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:20:27.233Z,1628990427.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:20:27.234Z,1628990427.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:20:27.657Z,1628990427.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5C,000,00C22,189,80,80,B8,FF
2021-08-15T01:20:27.657Z,1628990427.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:20:27.658Z,1628990427.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:20:27.660Z,1628990427.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:20:28.032Z,1628990428.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:20:28.441Z,1628990428.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25A,000,00BF2,189,80,80,B8,FF
2021-08-15T01:20:28.442Z,1628990428.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:20:28.869Z,1628990428.869 [Micromodem](INFO): Nmea in: $SNTTA,0.100358,,,,012028.92*4D

2021-08-15T01:20:28.949Z,1628990428.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.979996 m, bearing: 25.042018 deg, deltaT: 4.440888 s, approachRate: -0.648520 m/s, LOS rate: -10.499512 deg/s, posRepo size: 4
2021-08-15T01:20:28.951Z,1628990428.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.979996 m,
      bearing: 25.042018 deg,
      approachRate: -0.648520 m/s,
      LOS rate: -10.499512 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 72.009562 deg,
      new cmd heading: 71.274036 deg.

2021-08-15T01:20:31.283Z,1628990431.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:20:31.677Z,1628990431.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:20:31.677Z,1628990431.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:20:31.677Z,1628990431.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:20:31.678Z,1628990431.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:20:32.081Z,1628990432.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25A,000,00BF2,189,80,80,B8,FF
2021-08-15T01:20:32.082Z,1628990432.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:20:32.082Z,1628990432.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:20:32.083Z,1628990432.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:20:32.480Z,1628990432.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:20:32.881Z,1628990432.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,002FE,187,80,80,96,FF
2021-08-15T01:20:32.882Z,1628990432.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:20:32.885Z,1628990432.885 [Micromodem](INFO): Nmea in: $SNTTA,0.202297,0.202528,,,012033.35*58

2021-08-15T01:20:33.324Z,1628990433.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.460000 m, bearing: 78.678711 deg, deltaT: 4.487458 s, approachRate: -30.645411 m/s, LOS rate: 11.952578 deg/s, posRepo size: 4
2021-08-15T01:20:33.325Z,1628990433.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 8.46 m.
2021-08-15T01:20:33.325Z,1628990433.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.952578 deg/s. Setting heading cmd to target bearing of 78.678711deg and heading rate command to 0 deg/s.
2021-08-15T01:20:33.742Z,1628990433.742 [PowerOnly](INFO): Powering up loadControl
2021-08-15T01:20:33.787Z,1628990433.787 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T01:20:33.787Z,1628990433.787 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:20:33.787Z,1628990433.787 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T01:20:33.788Z,1628990433.788 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T01:20:33.788Z,1628990433.788 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T01:20:33.788Z,1628990433.788 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T01:20:34.145Z,1628990434.145 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T01:20:34.145Z,1628990434.145 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:20:34.146Z,1628990434.146 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T01:20:34.146Z,1628990434.146 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:20:35.852Z,1628990435.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:20:36.113Z,1628990436.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:20:36.113Z,1628990436.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:20:36.113Z,1628990436.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:20:36.114Z,1628990436.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:20:36.517Z,1628990436.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,002FE,187,80,80,96,FF
2021-08-15T01:20:36.517Z,1628990436.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:20:36.518Z,1628990436.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:20:36.519Z,1628990436.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:20:36.936Z,1628990436.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:20:37.325Z,1628990437.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,00BAB,187,80,80,1E,FF
2021-08-15T01:20:37.326Z,1628990437.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:20:37.346Z,1628990437.346 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:20:37.769Z,1628990437.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012037.78*56

2021-08-15T01:20:37.796Z,1628990437.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.720001 m, bearing: 80.153814 deg, deltaT: 4.371961 s, approachRate: 30.480600 m/s, LOS rate: 0.337401 deg/s, posRepo size: 4
2021-08-15T01:20:37.798Z,1628990437.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.720001 m,
      bearing: 80.153814 deg,
      approachRate: 30.480600 m/s,
      LOS rate: 0.337401 deg/s,
      cmd update: 1.349602 deg/s,
      cmd heading: 78.678711 deg,
      new cmd heading: 78.678711 deg.

2021-08-15T01:20:38.194Z,1628990438.194 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T01:20:38.195Z,1628990438.195 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:20:38.195Z,1628990438.195 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T01:20:38.196Z,1628990438.196 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T01:20:38.196Z,1628990438.196 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T01:20:38.197Z,1628990438.197 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T01:20:38.607Z,1628990438.607 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T01:20:38.607Z,1628990438.607 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:20:38.607Z,1628990438.607 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T01:20:38.607Z,1628990438.607 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:20:40.197Z,1628990440.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:20:40.557Z,1628990440.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:20:40.557Z,1628990440.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:20:40.557Z,1628990440.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:20:40.558Z,1628990440.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:20:40.969Z,1628990440.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,00BAB,187,80,80,1E,FF
2021-08-15T01:20:40.969Z,1628990440.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:20:40.969Z,1628990440.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:20:40.971Z,1628990440.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:20:41.368Z,1628990441.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:20:41.774Z,1628990441.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,147,000,00B8A,186,80,80,27,FF
2021-08-15T01:20:41.774Z,1628990441.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:20:42.213Z,1628990442.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012042.23*5A

2021-08-15T01:20:42.257Z,1628990442.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.740005 m, bearing: 26.513544 deg, deltaT: 4.459367 s, approachRate: -0.444008 m/s, LOS rate: -12.028673 deg/s, posRepo size: 4
2021-08-15T01:20:42.257Z,1628990442.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.028673 deg/s. Setting heading cmd to target bearing of 26.513544deg and heading rate command to 0 deg/s.
2021-08-15T01:20:44.744Z,1628990444.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:20:45.001Z,1628990445.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:20:45.001Z,1628990445.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:20:45.001Z,1628990445.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:20:45.002Z,1628990445.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:20:45.405Z,1628990445.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
147,000,00B8A,186,80,80,27,FF
2021-08-15T01:20:45.405Z,1628990445.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:20:45.405Z,1628990445.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:20:45.407Z,1628990445.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:20:45.817Z,1628990445.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:20:46.727Z,1628990446.727 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012046.67*5E

2021-08-15T01:20:47.453Z,1628990447.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:20:49.085Z,1628990449.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,27,FF
2021-08-15T01:20:49.085Z,1628990449.085 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,27,FF
2021-08-15T01:20:49.085Z,1628990449.085 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:20:50.282Z,1628990450.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:20:50.701Z,1628990450.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:20:50.701Z,1628990450.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:20:50.702Z,1628990450.702 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:20:50.703Z,1628990450.703 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:20:51.081Z,1628990451.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,27,FF
2021-08-15T01:20:51.081Z,1628990451.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:20:51.081Z,1628990451.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:20:51.083Z,1628990451.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:20:51.548Z,1628990451.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:20:51.933Z,1628990451.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,00B39,189,80,80,A8,FF
2021-08-15T01:20:51.934Z,1628990451.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:20:52.353Z,1628990452.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012052.34*5D

2021-08-15T01:20:52.401Z,1628990452.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.880005 m, bearing: 23.582401 deg, deltaT: 10.199905 s, approachRate: -0.476475 m/s, LOS rate: -0.287370 deg/s, posRepo size: 4
2021-08-15T01:20:52.403Z,1628990452.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.880005 m,
      bearing: 23.582401 deg,
      approachRate: -0.476475 m/s,
      LOS rate: -0.287370 deg/s,
      cmd update: -1.149479 deg/s,
      cmd heading: 26.513544 deg,
      new cmd heading: 26.513544 deg.

2021-08-15T01:20:54.865Z,1628990454.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:20:55.169Z,1628990455.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:20:55.169Z,1628990455.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:20:55.169Z,1628990455.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:20:55.170Z,1628990455.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:20:55.584Z,1628990455.584 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,00B39,189,80,80,A8,FF
2021-08-15T01:20:55.585Z,1628990455.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:20:55.585Z,1628990455.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:20:55.591Z,1628990455.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:20:55.977Z,1628990455.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:20:56.385Z,1628990456.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DC,000,00B18,185,80,80,A5,FF
2021-08-15T01:20:56.386Z,1628990456.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:20:56.805Z,1628990456.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012056.85*53

2021-08-15T01:20:56.871Z,1628990456.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.900009 m, bearing: 25.461427 deg, deltaT: 4.424843 s, approachRate: -0.447473 m/s, LOS rate: 0.424654 deg/s, posRepo size: 4
2021-08-15T01:20:56.889Z,1628990456.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.900009 m,
      bearing: 25.461427 deg,
      approachRate: -0.447473 m/s,
      LOS rate: 0.424654 deg/s,
      cmd update: 1.698615 deg/s,
      cmd heading: 21.441224 deg,
      new cmd heading: 20.903024 deg.

2021-08-15T01:20:59.232Z,1628990459.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:20:59.629Z,1628990459.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:20:59.629Z,1628990459.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:20:59.629Z,1628990459.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:20:59.630Z,1628990459.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:21:00.017Z,1628990460.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DC,000,00B18,185,80,80,A5,FF
2021-08-15T01:21:00.017Z,1628990460.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:21:00.017Z,1628990460.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:21:00.019Z,1628990460.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:21:00.433Z,1628990460.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:21:00.829Z,1628990460.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B48,000,00B04,18A,80,80,6C,FF
2021-08-15T01:21:00.830Z,1628990460.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:21:01.273Z,1628990461.273 [Micromodem](INFO): Nmea in: $SNTTA,0.092363,,,,012101.28*44

2021-08-15T01:21:01.302Z,1628990461.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.700012 m, bearing: 89.163803 deg, deltaT: 4.488449 s, approachRate: -0.267352 m/s, LOS rate: 14.192514 deg/s, posRepo size: 4
2021-08-15T01:21:01.302Z,1628990461.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.192514 deg/s. Setting heading cmd to target bearing of 89.163803deg and heading rate command to 0 deg/s.
2021-08-15T01:21:03.690Z,1628990463.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:21:04.057Z,1628990464.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:21:04.057Z,1628990464.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:21:04.057Z,1628990464.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:21:04.058Z,1628990464.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:21:04.469Z,1628990464.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B48,000,00B04,18A,80,80,6C,FF
2021-08-15T01:21:04.469Z,1628990464.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:21:04.469Z,1628990464.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:21:04.471Z,1628990464.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:21:04.875Z,1628990464.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:21:05.277Z,1628990465.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB5,000,00AED,189,80,80,68,FF
2021-08-15T01:21:05.277Z,1628990465.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:21:05.709Z,1628990465.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012105.73*5D

2021-08-15T01:21:05.843Z,1628990465.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.319992 m, bearing: 77.062333 deg, deltaT: 4.448195 s, approachRate: -0.310243 m/s, LOS rate: -2.720535 deg/s, posRepo size: 4
2021-08-15T01:21:05.853Z,1628990465.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.319992 m,
      bearing: 77.062333 deg,
      approachRate: -0.310243 m/s,
      LOS rate: -2.720535 deg/s,
      cmd update: -10.882139 deg/s,
      cmd heading: 89.163803 deg,
      new cmd heading: 89.163803 deg.

2021-08-15T01:21:08.167Z,1628990468.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:21:08.521Z,1628990468.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:21:08.521Z,1628990468.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:21:08.522Z,1628990468.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:21:08.523Z,1628990468.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:21:08.913Z,1628990468.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB5,000,00AED,189,80,80,68,FF
2021-08-15T01:21:08.913Z,1628990468.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:21:08.913Z,1628990468.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:21:08.915Z,1628990468.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:21:09.333Z,1628990469.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:21:09.725Z,1628990469.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D64,000,00ACD,189,80,80,3C,FF
2021-08-15T01:21:09.726Z,1628990469.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:21:10.162Z,1628990470.162 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012110.18*54

2021-08-15T01:21:10.202Z,1628990470.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.400009 m, bearing: 82.466939 deg, deltaT: 4.443482 s, approachRate: -0.432090 m/s, LOS rate: 1.216300 deg/s, posRepo size: 4
2021-08-15T01:21:10.225Z,1628990470.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.400009 m,
      bearing: 82.466939 deg,
      approachRate: -0.432090 m/s,
      LOS rate: 1.216300 deg/s,
      cmd update: 4.865199 deg/s,
      cmd heading: 40.851523 deg,
      new cmd heading: 36.656654 deg.

2021-08-15T01:21:12.623Z,1628990472.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:21:12.953Z,1628990472.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:21:12.953Z,1628990472.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:21:12.953Z,1628990472.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:21:12.954Z,1628990472.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:21:13.369Z,1628990473.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D64,000,00ACD,189,80,80,3C,FF
2021-08-15T01:21:13.369Z,1628990473.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:21:13.369Z,1628990473.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:21:13.371Z,1628990473.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:21:13.768Z,1628990473.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:21:14.174Z,1628990474.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA0,000,00AAA,189,80,80,96,FF
2021-08-15T01:21:14.175Z,1628990474.175 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:21:14.613Z,1628990474.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012114.63*5C

2021-08-15T01:21:14.659Z,1628990474.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.300003 m, bearing: 93.199099 deg, deltaT: 4.425798 s, approachRate: -0.474492 m/s, LOS rate: 2.424910 deg/s, posRepo size: 4
2021-08-15T01:21:14.669Z,1628990474.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.300003 m,
      bearing: 93.199099 deg,
      approachRate: -0.474492 m/s,
      LOS rate: 2.424910 deg/s,
      cmd update: 9.699639 deg/s,
      cmd heading: 62.270760 deg,
      new cmd heading: 64.475751 deg.

2021-08-15T01:21:16.741Z,1628990476.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:21:17.005Z,1628990477.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:21:17.005Z,1628990477.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:21:17.005Z,1628990477.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:21:17.006Z,1628990477.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:21:17.413Z,1628990477.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA0,000,00AAA,189,80,80,96,FF
2021-08-15T01:21:17.413Z,1628990477.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:21:17.413Z,1628990477.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:21:17.415Z,1628990477.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:21:17.809Z,1628990477.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:21:18.241Z,1628990478.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,00A87,188,80,80,A3,FF
2021-08-15T01:21:18.242Z,1628990478.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:21:18.669Z,1628990478.669 [Micromodem](INFO): Nmea in: $SNTTA,0.211977,,,,012118.68*4E

2021-08-15T01:21:18.759Z,1628990478.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.200005 m, bearing: 92.461316 deg, deltaT: 4.026146 s, approachRate: -0.521590 m/s, LOS rate: -0.183248 deg/s, posRepo size: 4
2021-08-15T01:21:18.762Z,1628990478.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.200005 m,
      bearing: 92.461316 deg,
      approachRate: -0.521590 m/s,
      LOS rate: -0.183248 deg/s,
      cmd update: -0.732992 deg/s,
      cmd heading: 101.585656 deg,
      new cmd heading: 106.441392 deg.

2021-08-15T01:21:20.725Z,1628990480.725 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T01:21:21.087Z,1628990481.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:21:21.451Z,1628990481.451 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:21:21.451Z,1628990481.451 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:21:21.451Z,1628990481.451 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:21:21.452Z,1628990481.452 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:21:21.838Z,1628990481.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,00A87,188,80,80,A3,FF
2021-08-15T01:21:21.838Z,1628990481.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:21:21.838Z,1628990481.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:21:21.840Z,1628990481.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:21:22.268Z,1628990482.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:21:22.657Z,1628990482.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8F,000,00A5C,187,80,80,AE,FF
2021-08-15T01:21:22.657Z,1628990482.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:21:23.080Z,1628990483.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012123.14*58

2021-08-15T01:21:23.126Z,1628990483.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.620010 m, bearing: 86.195314 deg, deltaT: 4.513351 s, approachRate: -0.571636 m/s, LOS rate: -1.388326 deg/s, posRepo size: 4
2021-08-15T01:21:23.129Z,1628990483.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.620010 m,
      bearing: 86.195314 deg,
      approachRate: -0.571636 m/s,
      LOS rate: -1.388326 deg/s,
      cmd update: -5.553303 deg/s,
      cmd heading: 98.280320 deg,
      new cmd heading: 98.017801 deg.

2021-08-15T01:21:25.530Z,1628990485.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:21:25.893Z,1628990485.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:21:25.893Z,1628990485.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:21:25.893Z,1628990485.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:21:25.894Z,1628990485.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:21:26.298Z,1628990486.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8F,000,00A5C,187,80,80,AE,FF
2021-08-15T01:21:26.298Z,1628990486.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:21:26.298Z,1628990486.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:21:26.301Z,1628990486.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:21:26.730Z,1628990486.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:21:27.105Z,1628990487.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D8,000,00A30,185,80,80,A4,FF
2021-08-15T01:21:27.106Z,1628990487.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:21:27.547Z,1628990487.547 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012127.56*5A

2021-08-15T01:21:27.622Z,1628990487.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.979996 m, bearing: 84.147678 deg, deltaT: 4.388641 s, approachRate: -0.601556 m/s, LOS rate: -0.466576 deg/s, posRepo size: 4
2021-08-15T01:21:27.624Z,1628990487.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.979996 m,
      bearing: 84.147678 deg,
      approachRate: -0.601556 m/s,
      LOS rate: -0.466576 deg/s,
      cmd update: -1.866305 deg/s,
      cmd heading: 73.935227 deg,
      new cmd heading: 71.326013 deg.

2021-08-15T01:21:29.974Z,1628990489.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:21:30.330Z,1628990490.330 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:21:30.331Z,1628990490.331 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:21:30.331Z,1628990490.331 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:21:30.333Z,1628990490.333 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:21:30.776Z,1628990490.776 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D8,000,00A30,185,80,80,A4,FF
2021-08-15T01:21:30.776Z,1628990490.776 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:21:30.777Z,1628990490.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:21:30.778Z,1628990490.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:21:31.174Z,1628990491.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:21:31.565Z,1628990491.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,00A07,186,80,80,C6,FF
2021-08-15T01:21:31.566Z,1628990491.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:21:31.978Z,1628990491.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012132.04*59

2021-08-15T01:21:32.025Z,1628990492.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.519997 m, bearing: 83.053734 deg, deltaT: 4.504476 s, approachRate: -0.546123 m/s, LOS rate: -0.242857 deg/s, posRepo size: 4
2021-08-15T01:21:32.027Z,1628990492.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.519997 m,
      bearing: 83.053734 deg,
      approachRate: -0.546123 m/s,
      LOS rate: -0.242857 deg/s,
      cmd update: -0.971428 deg/s,
      cmd heading: 65.527823 deg,
      new cmd heading: 64.840129 deg.

2021-08-15T01:21:34.431Z,1628990494.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:21:34.797Z,1628990494.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:21:34.797Z,1628990494.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:21:34.797Z,1628990494.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:21:34.798Z,1628990494.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:21:35.203Z,1628990495.203 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,00A07,186,80,80,C6,FF
2021-08-15T01:21:35.203Z,1628990495.203 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:21:35.204Z,1628990495.204 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:21:35.207Z,1628990495.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:21:35.633Z,1628990495.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:21:36.005Z,1628990496.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,009DA,187,80,80,B5,FF
2021-08-15T01:21:36.006Z,1628990496.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:21:36.433Z,1628990496.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012136.47*5A

2021-08-15T01:21:36.455Z,1628990496.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.820000 m, bearing: 86.056825 deg, deltaT: 4.369549 s, approachRate: -0.617912 m/s, LOS rate: 0.687277 deg/s, posRepo size: 4
2021-08-15T01:21:36.488Z,1628990496.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.820000 m,
      bearing: 86.056825 deg,
      approachRate: -0.617912 m/s,
      LOS rate: 0.687277 deg/s,
      cmd update: 2.749108 deg/s,
      cmd heading: 61.277854 deg,
      new cmd heading: 60.866502 deg.

2021-08-15T01:21:38.896Z,1628990498.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:21:39.249Z,1628990499.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:21:39.249Z,1628990499.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:21:39.249Z,1628990499.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:21:39.250Z,1628990499.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:21:39.649Z,1628990499.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,009DA,187,80,80,B5,FF
2021-08-15T01:21:39.650Z,1628990499.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:21:39.650Z,1628990499.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:21:39.651Z,1628990499.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:21:40.045Z,1628990500.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:21:40.449Z,1628990500.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,009B1,188,80,80,7B,FF
2021-08-15T01:21:40.450Z,1628990500.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:21:40.900Z,1628990500.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012140.91*50

2021-08-15T01:21:41.013Z,1628990501.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.360001 m, bearing: 92.841621 deg, deltaT: 4.431631 s, approachRate: -0.555100 m/s, LOS rate: 1.530993 deg/s, posRepo size: 4
2021-08-15T01:21:41.015Z,1628990501.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.360001 m,
      bearing: 92.841621 deg,
      approachRate: -0.555100 m/s,
      LOS rate: 1.530993 deg/s,
      cmd update: 6.123972 deg/s,
      cmd heading: 73.469621 deg,
      new cmd heading: 74.960215 deg.

2021-08-15T01:21:43.301Z,1628990503.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:21:43.677Z,1628990503.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:21:43.677Z,1628990503.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:21:43.677Z,1628990503.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:21:43.678Z,1628990503.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:21:44.085Z,1628990504.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,009B1,188,80,80,7B,FF
2021-08-15T01:21:44.085Z,1628990504.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:21:44.085Z,1628990504.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:21:44.087Z,1628990504.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:21:44.499Z,1628990504.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:21:44.893Z,1628990504.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,00989,185,80,80,AC,FF
2021-08-15T01:21:44.894Z,1628990504.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:21:45.334Z,1628990505.334 [Micromodem](INFO): Nmea in: $SNTTA,0.074873,,,,012145.35*4A

2021-08-15T01:21:45.358Z,1628990505.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.959999 m, bearing: 91.151723 deg, deltaT: 4.566216 s, approachRate: -0.525600 m/s, LOS rate: -0.370087 deg/s, posRepo size: 4
2021-08-15T01:21:45.361Z,1628990505.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.959999 m,
      bearing: 91.151723 deg,
      approachRate: -0.525600 m/s,
      LOS rate: -0.370087 deg/s,
      cmd update: -1.480349 deg/s,
      cmd heading: 101.307971 deg,
      new cmd heading: 103.425346 deg.

2021-08-15T01:21:47.763Z,1628990507.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:21:48.121Z,1628990508.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:21:48.121Z,1628990508.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:21:48.121Z,1628990508.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:21:48.122Z,1628990508.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:21:48.525Z,1628990508.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,00989,185,80,80,AC,FF
2021-08-15T01:21:48.525Z,1628990508.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:21:48.525Z,1628990508.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:21:48.527Z,1628990508.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:21:48.933Z,1628990508.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:21:49.337Z,1628990509.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,0095E,185,80,80,99,FF
2021-08-15T01:21:49.338Z,1628990509.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:21:49.765Z,1628990509.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012149.79*5F

2021-08-15T01:21:49.808Z,1628990509.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.379997 m, bearing: 84.612984 deg, deltaT: 4.352369 s, approachRate: -0.592781 m/s, LOS rate: -1.502340 deg/s, posRepo size: 4
2021-08-15T01:21:49.810Z,1628990509.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.379997 m,
      bearing: 84.612984 deg,
      approachRate: -0.592781 m/s,
      LOS rate: -1.502340 deg/s,
      cmd update: -6.009360 deg/s,
      cmd heading: 94.871478 deg,
      new cmd heading: 94.209510 deg.

2021-08-15T01:21:52.203Z,1628990512.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:21:52.572Z,1628990512.572 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:21:52.573Z,1628990512.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:21:52.573Z,1628990512.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:21:52.575Z,1628990512.575 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:21:52.969Z,1628990512.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,0095E,185,80,80,99,FF
2021-08-15T01:21:52.969Z,1628990512.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:21:52.969Z,1628990512.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:21:52.971Z,1628990512.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:21:53.381Z,1628990513.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:21:53.793Z,1628990513.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,00933,186,80,80,A1,FF
2021-08-15T01:21:53.793Z,1628990513.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:21:54.221Z,1628990514.221 [Micromodem](INFO): Nmea in: $SNTTA,0.076253,,,,012154.23*47

2021-08-15T01:21:54.258Z,1628990514.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.800003 m, bearing: 82.961718 deg, deltaT: 4.477398 s, approachRate: -0.576226 m/s, LOS rate: -0.368800 deg/s, posRepo size: 4
2021-08-15T01:21:54.259Z,1628990514.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.800003 m,
      bearing: 82.961718 deg,
      approachRate: -0.576226 m/s,
      LOS rate: -0.368800 deg/s,
      cmd update: -1.475202 deg/s,
      cmd heading: 67.817693 deg,
      new cmd heading: 65.443233 deg.

2021-08-15T01:21:56.746Z,1628990516.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:21:57.021Z,1628990517.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:21:57.021Z,1628990517.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:21:57.021Z,1628990517.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:21:57.022Z,1628990517.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:21:57.413Z,1628990517.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,00933,186,80,80,A1,FF
2021-08-15T01:21:57.414Z,1628990517.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:21:57.414Z,1628990517.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:21:57.415Z,1628990517.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:21:57.829Z,1628990517.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:21:58.245Z,1628990518.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,00907,186,80,80,8B,FF
2021-08-15T01:21:58.246Z,1628990518.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:21:58.681Z,1628990518.681 [Micromodem](INFO): Nmea in: $SNTTA,0.086608,,,,012158.68*41

2021-08-15T01:21:58.781Z,1628990518.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.160004 m, bearing: 86.277727 deg, deltaT: 4.400535 s, approachRate: -0.599927 m/s, LOS rate: 0.753547 deg/s, posRepo size: 4
2021-08-15T01:21:58.783Z,1628990518.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.160004 m,
      bearing: 86.277727 deg,
      approachRate: -0.599927 m/s,
      LOS rate: 0.753547 deg/s,
      cmd update: 3.014187 deg/s,
      cmd heading: 61.325959 deg,
      new cmd heading: 60.570595 deg.

2021-08-15T01:22:01.111Z,1628990521.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:22:01.453Z,1628990521.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:22:01.453Z,1628990521.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:22:01.453Z,1628990521.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:22:01.454Z,1628990521.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:22:01.857Z,1628990521.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,00907,186,80,80,8B,FF
2021-08-15T01:22:01.857Z,1628990521.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:22:01.857Z,1628990521.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:22:01.859Z,1628990521.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:22:02.273Z,1628990522.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:22:03.106Z,1628990523.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012203.12*5F

2021-08-15T01:22:03.924Z,1628990523.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:22:05.497Z,1628990525.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,8B,FF
2021-08-15T01:22:05.497Z,1628990525.497 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,8B,FF
2021-08-15T01:22:05.497Z,1628990525.497 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:22:06.803Z,1628990526.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:22:07.102Z,1628990527.102 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:22:07.102Z,1628990527.102 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:22:07.103Z,1628990527.103 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:22:07.104Z,1628990527.104 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:22:07.522Z,1628990527.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,8B,FF
2021-08-15T01:22:07.523Z,1628990527.523 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:22:07.523Z,1628990527.523 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:22:07.524Z,1628990527.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:22:07.920Z,1628990527.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:22:08.321Z,1628990528.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27A,000,008AF,189,80,80,B0,FF
2021-08-15T01:22:08.321Z,1628990528.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:22:08.773Z,1628990528.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012208.79*59

2021-08-15T01:22:08.875Z,1628990528.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.879997 m, bearing: 33.697350 deg, deltaT: 10.075667 s, approachRate: -0.524035 m/s, LOS rate: -5.218551 deg/s, posRepo size: 4
2021-08-15T01:22:08.881Z,1628990528.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.879997 m,
      bearing: 33.697350 deg,
      approachRate: -0.524035 m/s,
      LOS rate: -5.218551 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 91.696569 deg,
      new cmd heading: 93.313913 deg.

2021-08-15T01:22:10.904Z,1628990530.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:22:11.149Z,1628990531.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:22:11.149Z,1628990531.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:22:11.149Z,1628990531.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:22:11.150Z,1628990531.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:22:11.549Z,1628990531.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27A,000,008AF,189,80,80,B0,FF
2021-08-15T01:22:11.549Z,1628990531.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:22:11.549Z,1628990531.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:22:11.551Z,1628990531.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:22:11.964Z,1628990531.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:22:12.358Z,1628990532.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBC,000,0088B,187,80,80,75,FF
2021-08-15T01:22:12.358Z,1628990532.358 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:22:12.812Z,1628990532.812 [Micromodem](INFO): Nmea in: $SNTTA,0.078157,,,,012212.81*47

2021-08-15T01:22:12.878Z,1628990532.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.720001 m, bearing: 93.466535 deg, deltaT: 4.036163 s, approachRate: -0.535161 m/s, LOS rate: 14.808417 deg/s, posRepo size: 4
2021-08-15T01:22:12.879Z,1628990532.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.808417 deg/s. Setting heading cmd to target bearing of 93.466535deg and heading rate command to 0 deg/s.
2021-08-15T01:22:15.234Z,1628990535.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:22:15.609Z,1628990535.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:22:15.609Z,1628990535.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:22:15.609Z,1628990535.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:22:15.610Z,1628990535.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:22:16.006Z,1628990536.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBC,000,0088B,187,80,80,75,FF
2021-08-15T01:22:16.006Z,1628990536.006 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:22:16.006Z,1628990536.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:22:16.008Z,1628990536.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:22:16.413Z,1628990536.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:22:17.234Z,1628990537.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012217.27*5C

2021-08-15T01:22:18.017Z,1628990538.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,0375F,186,80,80,9A,FF
2021-08-15T01:22:18.018Z,1628990538.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:22:18.459Z,1628990538.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 813.000000 m, bearing: 92.557717 deg, deltaT: 5.738571 s, approachRate: 125.341316 m/s, LOS rate: -0.158370 deg/s, posRepo size: 4
2021-08-15T01:22:18.462Z,1628990538.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 813.000000 m,
      bearing: 92.557717 deg,
      approachRate: 125.341316 m/s,
      LOS rate: -0.158370 deg/s,
      cmd update: -0.633480 deg/s,
      cmd heading: 93.466535 deg,
      new cmd heading: 93.466535 deg.

2021-08-15T01:22:20.923Z,1628990540.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:22:21.253Z,1628990541.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:22:21.253Z,1628990541.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:22:21.253Z,1628990541.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:22:21.254Z,1628990541.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:22:21.653Z,1628990541.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,0375F,186,80,80,9A,FF
2021-08-15T01:22:21.653Z,1628990541.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:22:21.653Z,1628990541.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:22:21.655Z,1628990541.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:22:22.060Z,1628990542.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:22:22.469Z,1628990542.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26F,000,00831,189,80,80,AE,FF
2021-08-15T01:22:22.470Z,1628990542.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:22:22.913Z,1628990542.913 [Micromodem](INFO): Nmea in: $SNTTA,0.089922,,,,012222.92*42

2021-08-15T01:22:22.984Z,1628990542.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.320000 m, bearing: 35.688520 deg, deltaT: 4.373253 s, approachRate: -165.707306 m/s, LOS rate: -13.003867 deg/s, posRepo size: 4
2021-08-15T01:22:22.985Z,1628990542.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.003867 deg/s. Setting heading cmd to target bearing of 35.688520deg and heading rate command to 0 deg/s.
2021-08-15T01:22:25.337Z,1628990545.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:22:25.693Z,1628990545.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:22:25.693Z,1628990545.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:22:25.693Z,1628990545.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:22:25.694Z,1628990545.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:22:26.097Z,1628990546.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26F,000,00831,189,80,80,AE,FF
2021-08-15T01:22:26.097Z,1628990546.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:22:26.097Z,1628990546.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:22:26.099Z,1628990546.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:22:26.510Z,1628990546.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:22:26.913Z,1628990546.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,00808,187,80,80,BD,FF
2021-08-15T01:22:26.913Z,1628990546.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:22:27.337Z,1628990547.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012227.36*5F

2021-08-15T01:22:27.374Z,1628990547.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.860001 m, bearing: 94.135709 deg, deltaT: 4.511061 s, approachRate: -0.545326 m/s, LOS rate: 12.956416 deg/s, posRepo size: 4
2021-08-15T01:22:27.374Z,1628990547.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.956416 deg/s. Setting heading cmd to target bearing of 94.135709deg and heading rate command to 0 deg/s.
2021-08-15T01:22:29.778Z,1628990549.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:22:30.149Z,1628990550.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:22:30.149Z,1628990550.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:22:30.149Z,1628990550.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:22:30.150Z,1628990550.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:22:30.553Z,1628990550.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,00808,187,80,80,BD,FF
2021-08-15T01:22:30.553Z,1628990550.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:22:30.553Z,1628990550.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:22:30.558Z,1628990550.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:22:30.957Z,1628990550.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:22:31.350Z,1628990551.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,007DC,187,80,80,A1,FF
2021-08-15T01:22:31.350Z,1628990551.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:22:31.789Z,1628990551.789 [Micromodem](INFO): Nmea in: $SNTTA,0.091896,,,,012231.82*46

2021-08-15T01:22:31.815Z,1628990551.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.220001 m, bearing: 95.465677 deg, deltaT: 4.373486 s, approachRate: -0.603637 m/s, LOS rate: 0.304098 deg/s, posRepo size: 4
2021-08-15T01:22:31.817Z,1628990551.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.220001 m,
      bearing: 95.465677 deg,
      approachRate: -0.603637 m/s,
      LOS rate: 0.304098 deg/s,
      cmd update: 1.216391 deg/s,
      cmd heading: 94.135709 deg,
      new cmd heading: 94.135709 deg.

2021-08-15T01:22:34.230Z,1628990554.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:22:34.601Z,1628990554.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:22:34.601Z,1628990554.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:22:34.601Z,1628990554.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:22:34.602Z,1628990554.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:22:34.985Z,1628990554.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,007DC,187,80,80,A1,FF
2021-08-15T01:22:34.985Z,1628990554.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:22:34.985Z,1628990554.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:22:34.987Z,1628990554.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:22:35.397Z,1628990555.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:22:35.793Z,1628990555.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C91,000,007B9,189,80,80,B1,FF
2021-08-15T01:22:35.794Z,1628990555.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:22:36.248Z,1628990556.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.120003 m, bearing: 102.201323 deg, deltaT: 4.449623 s, approachRate: -0.471950 m/s, LOS rate: 1.513756 deg/s, posRepo size: 4
2021-08-15T01:22:36.250Z,1628990556.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.120003 m,
      bearing: 102.201323 deg,
      approachRate: -0.471950 m/s,
      LOS rate: 1.513756 deg/s,
      cmd update: 6.055026 deg/s,
      cmd heading: 99.547921 deg,
      new cmd heading: 100.067293 deg.

2021-08-15T01:22:38.739Z,1628990558.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:22:39.039Z,1628990559.039 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:22:39.039Z,1628990559.039 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:22:39.039Z,1628990559.039 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:22:39.040Z,1628990559.040 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:22:39.445Z,1628990559.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C91,000,007B9,189,80,80,B1,FF
2021-08-15T01:22:39.445Z,1628990559.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:22:39.445Z,1628990559.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:22:39.447Z,1628990559.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:22:39.844Z,1628990559.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:22:40.253Z,1628990560.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,0079B,189,80,80,AC,FF
2021-08-15T01:22:40.254Z,1628990560.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:22:40.717Z,1628990560.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012240.71*5D

2021-08-15T01:22:40.805Z,1628990560.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.320007 m, bearing: 41.219399 deg, deltaT: 4.449840 s, approachRate: -0.404508 m/s, LOS rate: -13.704296 deg/s, posRepo size: 4
2021-08-15T01:22:40.806Z,1628990560.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.704296 deg/s. Setting heading cmd to target bearing of 41.219399deg and heading rate command to 0 deg/s.
2021-08-15T01:22:42.784Z,1628990562.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:22:43.077Z,1628990563.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:22:43.078Z,1628990563.078 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:22:43.078Z,1628990563.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:22:43.079Z,1628990563.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:22:43.485Z,1628990563.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,0079B,189,80,80,AC,FF
2021-08-15T01:22:43.485Z,1628990563.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:22:43.485Z,1628990563.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:22:43.487Z,1628990563.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:22:43.890Z,1628990563.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:22:44.305Z,1628990564.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,00772,186,80,80,AA,FF
2021-08-15T01:22:44.305Z,1628990564.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:22:44.753Z,1628990564.753 [Micromodem](INFO): Nmea in: $SNTTA,0.066011,,,,012244.75*43

2021-08-15T01:22:44.813Z,1628990564.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.860008 m, bearing: 97.450441 deg, deltaT: 4.051417 s, approachRate: -0.607195 m/s, LOS rate: 13.879352 deg/s, posRepo size: 4
2021-08-15T01:22:44.814Z,1628990564.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.879352 deg/s. Setting heading cmd to target bearing of 97.450441deg and heading rate command to 0 deg/s.
2021-08-15T01:22:46.836Z,1628990566.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:22:47.117Z,1628990567.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:22:47.117Z,1628990567.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:22:47.117Z,1628990567.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:22:47.118Z,1628990567.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:22:47.540Z,1628990567.540 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,00772,186,80,80,AA,FF
2021-08-15T01:22:47.540Z,1628990567.540 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:22:47.540Z,1628990567.540 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:22:47.542Z,1628990567.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:22:47.935Z,1628990567.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:22:48.334Z,1628990568.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,00750,184,80,80,88,FF
2021-08-15T01:22:48.335Z,1628990568.335 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:22:48.793Z,1628990568.793 [Micromodem](INFO): Nmea in: $SNTTA,0.057034,,,,012248.81*41

2021-08-15T01:22:48.858Z,1628990568.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.820000 m, bearing: 95.401173 deg, deltaT: 4.059954 s, approachRate: -0.502471 m/s, LOS rate: -0.504752 deg/s, posRepo size: 4
2021-08-15T01:22:48.861Z,1628990568.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.820000 m,
      bearing: 95.401173 deg,
      approachRate: -0.502471 m/s,
      LOS rate: -0.504752 deg/s,
      cmd update: -2.019007 deg/s,
      cmd heading: 97.450441 deg,
      new cmd heading: 97.450441 deg.

2021-08-15T01:22:51.173Z,1628990571.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:22:51.566Z,1628990571.566 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:22:51.566Z,1628990571.566 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:22:51.567Z,1628990571.567 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:22:51.568Z,1628990571.568 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:22:51.966Z,1628990571.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,00750,184,80,80,88,FF
2021-08-15T01:22:51.966Z,1628990571.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:22:51.966Z,1628990571.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:22:51.968Z,1628990571.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:22:52.374Z,1628990572.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:22:52.773Z,1628990572.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,00726,186,80,80,92,FF
2021-08-15T01:22:52.774Z,1628990572.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:22:53.234Z,1628990573.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012253.23*58

2021-08-15T01:22:53.282Z,1628990573.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.300003 m, bearing: 96.619555 deg, deltaT: 4.459439 s, approachRate: -0.565093 m/s, LOS rate: 0.273214 deg/s, posRepo size: 4
2021-08-15T01:22:53.286Z,1628990573.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.300003 m,
      bearing: 96.619555 deg,
      approachRate: -0.565093 m/s,
      LOS rate: 0.273214 deg/s,
      cmd update: 1.092857 deg/s,
      cmd heading: 88.386910 deg,
      new cmd heading: 87.497806 deg.

2021-08-15T01:22:55.686Z,1628990575.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:22:56.001Z,1628990576.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:22:56.001Z,1628990576.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:22:56.001Z,1628990576.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:22:56.002Z,1628990576.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:22:56.406Z,1628990576.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,00726,186,80,80,92,FF
2021-08-15T01:22:56.406Z,1628990576.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:22:56.406Z,1628990576.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:22:56.414Z,1628990576.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:22:56.813Z,1628990576.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:22:57.240Z,1628990577.240 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,006FB,187,80,80,96,FF
2021-08-15T01:22:57.240Z,1628990577.240 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:22:57.245Z,1628990577.245 [Micromodem](INFO): Nmea in: $SNTTA,0.280825,0.284263,,,012257.68*5F

2021-08-15T01:22:57.704Z,1628990577.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.720001 m, bearing: 96.928676 deg, deltaT: 4.448052 s, approachRate: -0.580030 m/s, LOS rate: 0.069496 deg/s, posRepo size: 4
2021-08-15T01:22:57.706Z,1628990577.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.720001 m,
      bearing: 96.928676 deg,
      approachRate: -0.580030 m/s,
      LOS rate: 0.069496 deg/s,
      cmd update: 0.277983 deg/s,
      cmd heading: 93.240480 deg,
      new cmd heading: 93.683013 deg.

2021-08-15T01:23:00.083Z,1628990580.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:23:00.445Z,1628990580.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:23:00.445Z,1628990580.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:23:00.445Z,1628990580.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:23:00.446Z,1628990580.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:23:00.853Z,1628990580.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,006FB,187,80,80,96,FF
2021-08-15T01:23:00.853Z,1628990580.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:23:00.853Z,1628990580.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:23:00.855Z,1628990580.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:23:01.300Z,1628990581.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:23:01.689Z,1628990581.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,006CC,186,80,80,9C,FF
2021-08-15T01:23:01.690Z,1628990581.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:23:02.121Z,1628990582.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012302.12*5F

2021-08-15T01:23:02.158Z,1628990582.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.900002 m, bearing: 97.808794 deg, deltaT: 4.459909 s, approachRate: -0.632300 m/s, LOS rate: 0.197340 deg/s, posRepo size: 4
2021-08-15T01:23:02.160Z,1628990582.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.900002 m,
      bearing: 97.808794 deg,
      approachRate: -0.632300 m/s,
      LOS rate: 0.197340 deg/s,
      cmd update: 0.789359 deg/s,
      cmd heading: 94.479714 deg,
      new cmd heading: 94.595644 deg.

2021-08-15T01:23:04.570Z,1628990584.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:23:04.913Z,1628990584.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:23:04.913Z,1628990584.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:23:04.913Z,1628990584.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:23:04.914Z,1628990584.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:23:05.330Z,1628990585.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,006CC,186,80,80,9C,FF
2021-08-15T01:23:05.330Z,1628990585.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:23:05.330Z,1628990585.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:23:05.333Z,1628990585.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:23:05.773Z,1628990585.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:23:06.131Z,1628990586.131 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,006A3,187,80,80,AA,FF
2021-08-15T01:23:06.131Z,1628990586.131 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:23:06.565Z,1628990586.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012306.60*5E

2021-08-15T01:23:06.631Z,1628990586.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.440002 m, bearing: 98.198135 deg, deltaT: 4.411870 s, approachRate: -0.557586 m/s, LOS rate: 0.088249 deg/s, posRepo size: 4
2021-08-15T01:23:06.633Z,1628990586.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.440002 m,
      bearing: 98.198135 deg,
      approachRate: -0.557586 m/s,
      LOS rate: 0.088249 deg/s,
      cmd update: 0.352994 deg/s,
      cmd heading: 97.967267 deg,
      new cmd heading: 98.340045 deg.

2021-08-15T01:23:09.004Z,1628990589.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:23:09.373Z,1628990589.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:23:09.373Z,1628990589.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:23:09.373Z,1628990589.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:23:09.374Z,1628990589.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:23:09.765Z,1628990589.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,006A3,187,80,80,AA,FF
2021-08-15T01:23:09.765Z,1628990589.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:23:09.766Z,1628990589.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:23:09.767Z,1628990589.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:23:10.168Z,1628990590.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:23:10.573Z,1628990590.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,00677,186,80,80,8B,FF
2021-08-15T01:23:10.574Z,1628990590.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:23:11.011Z,1628990591.011 [Micromodem](INFO): Nmea in: $SNTTA,0.080422,,,,012311.03*4F

2021-08-15T01:23:11.088Z,1628990591.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.800007 m, bearing: 98.029006 deg, deltaT: 4.507218 s, approachRate: -0.585726 m/s, LOS rate: -0.037524 deg/s, posRepo size: 4
2021-08-15T01:23:11.090Z,1628990591.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.800007 m,
      bearing: 98.029006 deg,
      approachRate: -0.585726 m/s,
      LOS rate: -0.037524 deg/s,
      cmd update: -0.150096 deg/s,
      cmd heading: 99.555037 deg,
      new cmd heading: 99.707030 deg.

2021-08-15T01:23:13.444Z,1628990593.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:23:13.806Z,1628990593.806 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:23:13.806Z,1628990593.806 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:23:13.806Z,1628990593.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:23:13.807Z,1628990593.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:23:14.206Z,1628990594.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,00677,186,80,80,8B,FF
2021-08-15T01:23:14.206Z,1628990594.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:23:14.207Z,1628990594.207 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:23:14.209Z,1628990594.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:23:14.649Z,1628990594.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:23:15.013Z,1628990595.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,0064B,187,80,80,52,FF
2021-08-15T01:23:15.014Z,1628990595.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:23:15.453Z,1628990595.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012315.47*59

2021-08-15T01:23:15.488Z,1628990595.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.159996 m, bearing: 98.215088 deg, deltaT: 4.462055 s, approachRate: -0.591658 m/s, LOS rate: 0.041703 deg/s, posRepo size: 4
2021-08-15T01:23:15.490Z,1628990595.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.159996 m,
      bearing: 98.215088 deg,
      approachRate: -0.591658 m/s,
      LOS rate: 0.041703 deg/s,
      cmd update: 0.166813 deg/s,
      cmd heading: 98.883528 deg,
      new cmd heading: 98.829956 deg.

2021-08-15T01:23:17.878Z,1628990597.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:23:18.255Z,1628990598.255 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:23:18.255Z,1628990598.255 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:23:18.255Z,1628990598.255 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:23:18.272Z,1628990598.272 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:23:18.653Z,1628990598.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,0064B,187,80,80,52,FF
2021-08-15T01:23:18.653Z,1628990598.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:23:18.653Z,1628990598.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:23:18.655Z,1628990598.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:23:19.066Z,1628990599.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:23:19.457Z,1628990599.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,00620,186,80,80,93,FF
2021-08-15T01:23:19.458Z,1628990599.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:23:19.906Z,1628990599.906 [Micromodem](INFO): Nmea in: $SNTTA,0.055232,,,,012319.92*40

2021-08-15T01:23:19.933Z,1628990599.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.580002 m, bearing: 99.383624 deg, deltaT: 4.367998 s, approachRate: -0.590658 m/s, LOS rate: 0.267522 deg/s, posRepo size: 4
2021-08-15T01:23:19.935Z,1628990599.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.580002 m,
      bearing: 99.383624 deg,
      approachRate: -0.590658 m/s,
      LOS rate: 0.267522 deg/s,
      cmd update: 1.070089 deg/s,
      cmd heading: 99.608156 deg,
      new cmd heading: 99.684447 deg.

2021-08-15T01:23:22.303Z,1628990602.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:23:22.712Z,1628990602.712 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:23:22.712Z,1628990602.712 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:23:22.713Z,1628990602.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:23:22.714Z,1628990602.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:23:23.097Z,1628990603.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,00620,186,80,80,93,FF
2021-08-15T01:23:23.097Z,1628990603.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:23:23.098Z,1628990603.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:23:23.099Z,1628990603.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:23:23.504Z,1628990603.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:23:23.909Z,1628990603.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,005F6,185,80,80,99,FF
2021-08-15T01:23:23.910Z,1628990603.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:23:24.337Z,1628990604.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012324.36*5D

2021-08-15T01:23:24.379Z,1628990604.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.060001 m, bearing: 98.879003 deg, deltaT: 4.466328 s, approachRate: -0.564222 m/s, LOS rate: -0.112983 deg/s, posRepo size: 4
2021-08-15T01:23:24.381Z,1628990604.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.060001 m,
      bearing: 98.879003 deg,
      approachRate: -0.564222 m/s,
      LOS rate: -0.112983 deg/s,
      cmd update: -0.451934 deg/s,
      cmd heading: 104.404447 deg,
      new cmd heading: 104.855690 deg.

2021-08-15T01:23:26.835Z,1628990606.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:23:27.133Z,1628990607.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:23:27.133Z,1628990607.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:23:27.134Z,1628990607.134 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:23:27.135Z,1628990607.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:23:27.541Z,1628990607.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,005F6,185,80,80,99,FF
2021-08-15T01:23:27.541Z,1628990607.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:23:27.541Z,1628990607.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:23:27.543Z,1628990607.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:23:27.945Z,1628990607.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:23:28.345Z,1628990608.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,005C9,184,80,80,9A,FF
2021-08-15T01:23:28.346Z,1628990608.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:23:28.801Z,1628990608.801 [Micromodem](INFO): Nmea in: $SNTTA,0.033975,,,,012328.81*48

2021-08-15T01:23:28.882Z,1628990608.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.360001 m, bearing: 99.044402 deg, deltaT: 4.464245 s, approachRate: -0.604806 m/s, LOS rate: 0.037050 deg/s, posRepo size: 4
2021-08-15T01:23:28.905Z,1628990608.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.360001 m,
      bearing: 99.044402 deg,
      approachRate: -0.604806 m/s,
      LOS rate: 0.037050 deg/s,
      cmd update: 0.148200 deg/s,
      cmd heading: 102.389467 deg,
      new cmd heading: 102.179179 deg.

2021-08-15T01:23:31.218Z,1628990611.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:23:31.585Z,1628990611.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:23:31.585Z,1628990611.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:23:31.586Z,1628990611.586 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:23:31.588Z,1628990611.588 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:23:31.981Z,1628990611.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,005C9,184,80,80,9A,FF
2021-08-15T01:23:31.981Z,1628990611.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:23:31.981Z,1628990611.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:23:31.983Z,1628990611.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:23:32.388Z,1628990612.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:23:32.793Z,1628990612.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,0059B,185,80,80,9F,FF
2021-08-15T01:23:32.793Z,1628990612.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:23:33.244Z,1628990613.244 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012333.25*59

2021-08-15T01:23:33.280Z,1628990613.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.599995 m, bearing: 100.265770 deg, deltaT: 4.456197 s, approachRate: -0.619364 m/s, LOS rate: 0.274083 deg/s, posRepo size: 4
2021-08-15T01:23:33.282Z,1628990613.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.599995 m,
      bearing: 100.265770 deg,
      approachRate: -0.619364 m/s,
      LOS rate: 0.274083 deg/s,
      cmd update: 1.096332 deg/s,
      cmd heading: 103.051937 deg,
      new cmd heading: 103.110332 deg.

2021-08-15T01:23:35.681Z,1628990615.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:23:36.031Z,1628990616.031 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:23:36.032Z,1628990616.032 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:23:36.032Z,1628990616.032 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:23:36.033Z,1628990616.033 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:23:36.429Z,1628990616.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,0059B,185,80,80,9F,FF
2021-08-15T01:23:36.429Z,1628990616.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:23:36.429Z,1628990616.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:23:36.431Z,1628990616.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:23:36.840Z,1628990616.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:23:37.245Z,1628990617.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,00571,182,80,80,A6,FF
2021-08-15T01:23:37.246Z,1628990617.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:23:37.681Z,1628990617.681 [Micromodem](INFO): Nmea in: $SNTTA,0.038571,,,,012337.69*43

2021-08-15T01:23:37.723Z,1628990617.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.080002 m, bearing: 98.757493 deg, deltaT: 4.376950 s, approachRate: -0.575742 m/s, LOS rate: -0.344595 deg/s, posRepo size: 4
2021-08-15T01:23:37.725Z,1628990617.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.080002 m,
      bearing: 98.757493 deg,
      approachRate: -0.575742 m/s,
      LOS rate: -0.344595 deg/s,
      cmd update: -1.378381 deg/s,
      cmd heading: 107.850548 deg,
      new cmd heading: 108.355716 deg.

2021-08-15T01:23:40.083Z,1628990620.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:23:40.473Z,1628990620.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:23:40.473Z,1628990620.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:23:40.473Z,1628990620.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:23:40.474Z,1628990620.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:23:40.873Z,1628990620.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,00571,182,80,80,A6,FF
2021-08-15T01:23:40.873Z,1628990620.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:23:40.874Z,1628990620.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:23:40.875Z,1628990620.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:23:41.293Z,1628990621.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:23:41.689Z,1628990621.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00545,183,80,80,6B,FF
2021-08-15T01:23:41.690Z,1628990621.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:23:42.135Z,1628990622.135 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012342.14*5D

2021-08-15T01:23:42.155Z,1628990622.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.439999 m, bearing: 98.742044 deg, deltaT: 4.493676 s, approachRate: -0.587493 m/s, LOS rate: -0.003438 deg/s, posRepo size: 4
2021-08-15T01:23:42.158Z,1628990622.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.439999 m,
      bearing: 98.742044 deg,
      approachRate: -0.587493 m/s,
      LOS rate: -0.003438 deg/s,
      cmd update: -0.013753 deg/s,
      cmd heading: 101.656563 deg,
      new cmd heading: 101.106237 deg.

2021-08-15T01:23:44.545Z,1628990624.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:23:44.921Z,1628990624.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:23:44.921Z,1628990624.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:23:44.921Z,1628990624.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:23:44.922Z,1628990624.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:23:45.325Z,1628990625.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00545,183,80,80,6B,FF
2021-08-15T01:23:45.325Z,1628990625.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:23:45.325Z,1628990625.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:23:45.327Z,1628990625.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:23:45.744Z,1628990625.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:23:46.133Z,1628990626.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,00517,183,80,80,83,FF
2021-08-15T01:23:46.133Z,1628990626.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:23:46.594Z,1628990626.594 [Micromodem](INFO): Nmea in: $SNTTA,0.055544,,,,012346.59*4B

2021-08-15T01:23:46.635Z,1628990626.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.680000 m, bearing: 98.440648 deg, deltaT: 4.434371 s, approachRate: -0.622410 m/s, LOS rate: -0.067968 deg/s, posRepo size: 4
2021-08-15T01:23:46.637Z,1628990626.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.680000 m,
      bearing: 98.440648 deg,
      approachRate: -0.622410 m/s,
      LOS rate: -0.067968 deg/s,
      cmd update: -0.271872 deg/s,
      cmd heading: 101.595731 deg,
      new cmd heading: 101.589470 deg.

2021-08-15T01:23:49.009Z,1628990629.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:23:49.373Z,1628990629.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:23:49.373Z,1628990629.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:23:49.373Z,1628990629.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:23:49.374Z,1628990629.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:23:49.774Z,1628990629.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,00517,183,80,80,83,FF
2021-08-15T01:23:49.774Z,1628990629.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:23:49.774Z,1628990629.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:23:49.775Z,1628990629.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:23:50.179Z,1628990630.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:23:50.597Z,1628990630.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,004EC,184,80,80,96,FF
2021-08-15T01:23:50.597Z,1628990630.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:23:51.022Z,1628990631.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012351.04*5E

2021-08-15T01:23:51.058Z,1628990631.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.099998 m, bearing: 100.341947 deg, deltaT: 4.476416 s, approachRate: -0.576354 m/s, LOS rate: 0.424737 deg/s, posRepo size: 4
2021-08-15T01:23:51.058Z,1628990631.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.10 m.
2021-08-15T01:23:51.059Z,1628990631.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 38.10 m.
2021-08-15T01:23:51.059Z,1628990631.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T01:23:51.061Z,1628990631.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.099998 m,
      bearing: 100.341947 deg,
      approachRate: -0.576354 m/s,
      LOS rate: 0.424737 deg/s,
      cmd update: 1.698948 deg/s,
      cmd heading: 100.380627 deg,
      new cmd heading: 100.269524 deg.

2021-08-15T01:23:51.426Z,1628990631.426 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T01:23:51.427Z,1628990631.427 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:23:51.427Z,1628990631.427 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T01:23:51.428Z,1628990631.428 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T01:23:51.428Z,1628990631.428 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T01:23:51.428Z,1628990631.428 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T01:23:51.823Z,1628990631.823 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T01:23:51.840Z,1628990631.840 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:23:51.840Z,1628990631.840 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T01:23:51.840Z,1628990631.840 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:23:53.423Z,1628990633.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:23:53.805Z,1628990633.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:23:53.805Z,1628990633.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:23:53.805Z,1628990633.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:23:53.806Z,1628990633.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:23:54.232Z,1628990634.232 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,004EC,184,80,80,96,FF
2021-08-15T01:23:54.232Z,1628990634.232 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:23:54.233Z,1628990634.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:23:54.234Z,1628990634.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:23:54.645Z,1628990634.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:23:55.021Z,1628990635.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,004C5,183,80,80,78,FF
2021-08-15T01:23:55.022Z,1628990635.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:23:55.107Z,1628990635.107 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:23:55.457Z,1628990635.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012355.50*5B

2021-08-15T01:23:55.479Z,1628990635.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.760002 m, bearing: 99.175993 deg, deltaT: 4.436831 s, approachRate: -0.527403 m/s, LOS rate: -0.262790 deg/s, posRepo size: 4
2021-08-15T01:23:55.482Z,1628990635.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.760002 m,
      bearing: 99.175993 deg,
      approachRate: -0.527403 m/s,
      LOS rate: -0.262790 deg/s,
      cmd update: -1.051159 deg/s,
      cmd heading: 107.948330 deg,
      new cmd heading: 108.587331 deg.

2021-08-15T01:23:57.955Z,1628990637.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:23:58.253Z,1628990638.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:23:58.253Z,1628990638.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:23:58.253Z,1628990638.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:23:58.254Z,1628990638.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:23:58.653Z,1628990638.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,004C5,183,80,80,78,FF
2021-08-15T01:23:58.653Z,1628990638.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:23:58.653Z,1628990638.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:23:58.655Z,1628990638.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:23:59.068Z,1628990639.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:23:59.465Z,1628990639.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,00490,185,80,80,B7,FF
2021-08-15T01:23:59.465Z,1628990639.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:23:59.514Z,1628990639.514 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:23:59.917Z,1628990639.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012359.92*59

2021-08-15T01:23:59.944Z,1628990639.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.580002 m, bearing: 99.263385 deg, deltaT: 4.407490 s, approachRate: -0.721499 m/s, LOS rate: 0.019828 deg/s, posRepo size: 4
2021-08-15T01:23:59.946Z,1628990639.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.580002 m,
      bearing: 99.263385 deg,
      approachRate: -0.721499 m/s,
      LOS rate: 0.019828 deg/s,
      cmd update: 0.079313 deg/s,
      cmd heading: 103.340886 deg,
      new cmd heading: 102.860168 deg.

2021-08-15T01:24:02.315Z,1628990642.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:24:02.721Z,1628990642.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:24:02.722Z,1628990642.722 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:24:02.723Z,1628990642.723 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:24:02.724Z,1628990642.724 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:24:03.110Z,1628990643.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,00490,185,80,80,B7,FF
2021-08-15T01:24:03.110Z,1628990643.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:24:03.110Z,1628990643.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:24:03.112Z,1628990643.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:24:03.509Z,1628990643.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:24:03.909Z,1628990643.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00466,182,80,80,76,FF
2021-08-15T01:24:03.909Z,1628990643.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:24:03.976Z,1628990643.976 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:24:04.349Z,1628990644.349 [Micromodem](INFO): Nmea in: $SNTTA,0.036879,,,,012404.38*4B

2021-08-15T01:24:04.372Z,1628990644.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.059999 m, bearing: 99.823140 deg, deltaT: 4.462236 s, approachRate: -0.564740 m/s, LOS rate: 0.125443 deg/s, posRepo size: 4
2021-08-15T01:24:04.374Z,1628990644.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.059999 m,
      bearing: 99.823140 deg,
      approachRate: -0.564740 m/s,
      LOS rate: 0.125443 deg/s,
      cmd update: 0.501770 deg/s,
      cmd heading: 103.696079 deg,
      new cmd heading: 103.728336 deg.

2021-08-15T01:24:06.837Z,1628990646.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:24:07.149Z,1628990647.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:24:07.149Z,1628990647.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:24:07.149Z,1628990647.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:24:07.150Z,1628990647.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:24:07.553Z,1628990647.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00466,182,80,80,76,FF
2021-08-15T01:24:07.553Z,1628990647.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:24:07.554Z,1628990647.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:24:07.560Z,1628990647.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:24:07.989Z,1628990647.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:24:08.377Z,1628990648.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,0043B,183,80,80,67,FF
2021-08-15T01:24:08.378Z,1628990648.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:24:08.431Z,1628990648.431 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:24:08.801Z,1628990648.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012408.83*5A

2021-08-15T01:24:08.861Z,1628990648.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.480000 m, bearing: 99.429379 deg, deltaT: 4.454445 s, approachRate: -0.579197 m/s, LOS rate: -0.088397 deg/s, posRepo size: 4
2021-08-15T01:24:08.863Z,1628990648.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.480000 m,
      bearing: 99.429379 deg,
      approachRate: -0.579197 m/s,
      LOS rate: -0.088397 deg/s,
      cmd update: -0.353589 deg/s,
      cmd heading: 105.935375 deg,
      new cmd heading: 106.153020 deg.

2021-08-15T01:24:11.224Z,1628990651.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:24:11.641Z,1628990651.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:24:11.641Z,1628990651.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:24:11.641Z,1628990651.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:24:11.642Z,1628990651.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:24:12.020Z,1628990652.020 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,0043B,183,80,80,67,FF
2021-08-15T01:24:12.020Z,1628990652.020 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:24:12.021Z,1628990652.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:24:12.022Z,1628990652.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:24:12.420Z,1628990652.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:24:12.821Z,1628990652.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,048,000,00410,184,80,80,7C,FF
2021-08-15T01:24:12.822Z,1628990652.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:24:12.915Z,1628990652.915 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:24:13.261Z,1628990653.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012413.29*50

2021-08-15T01:24:13.319Z,1628990653.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.900000 m, bearing: 98.855814 deg, deltaT: 4.488766 s, approachRate: -0.574768 m/s, LOS rate: -0.127778 deg/s, posRepo size: 4
2021-08-15T01:24:13.330Z,1628990653.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.900000 m,
      bearing: 98.855814 deg,
      approachRate: -0.574768 m/s,
      LOS rate: -0.127778 deg/s,
      cmd update: -0.511112 deg/s,
      cmd heading: 104.351169 deg,
      new cmd heading: 104.205829 deg.

2021-08-15T01:24:15.697Z,1628990655.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:24:16.057Z,1628990656.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:24:16.057Z,1628990656.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:24:16.057Z,1628990656.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:24:16.058Z,1628990656.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:24:16.449Z,1628990656.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
048,000,00410,184,80,80,7C,FF
2021-08-15T01:24:16.449Z,1628990656.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:24:16.449Z,1628990656.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:24:16.451Z,1628990656.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:24:16.864Z,1628990656.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:24:17.265Z,1628990657.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,003E3,183,80,80,A9,FF
2021-08-15T01:24:17.265Z,1628990657.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:24:17.286Z,1628990657.286 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:24:17.709Z,1628990657.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012417.71*59

2021-08-15T01:24:17.735Z,1628990657.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 100.641171 deg, deltaT: 4.366379 s, approachRate: -0.618362 m/s, LOS rate: 0.408887 deg/s, posRepo size: 4
2021-08-15T01:24:17.738Z,1628990657.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.199999 m,
      bearing: 100.641171 deg,
      approachRate: -0.618362 m/s,
      LOS rate: 0.408887 deg/s,
      cmd update: 1.635549 deg/s,
      cmd heading: 102.115172 deg,
      new cmd heading: 101.883865 deg.

2021-08-15T01:24:20.122Z,1628990660.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:24:20.497Z,1628990660.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:24:20.498Z,1628990660.498 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:24:20.498Z,1628990660.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:24:20.499Z,1628990660.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:24:20.912Z,1628990660.912 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,003E3,183,80,80,A9,FF
2021-08-15T01:24:20.912Z,1628990660.912 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:24:20.913Z,1628990660.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:24:20.914Z,1628990660.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:24:21.309Z,1628990661.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:24:21.705Z,1628990661.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,003C0,182,80,80,AA,FF
2021-08-15T01:24:21.706Z,1628990661.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:24:21.764Z,1628990661.764 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:24:22.133Z,1628990662.133 [Micromodem](INFO): Nmea in: $SNTTA,0.041828,,,,012422.18*49

2021-08-15T01:24:22.149Z,1628990662.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.100002 m, bearing: 100.190795 deg, deltaT: 4.478573 s, approachRate: -0.468899 m/s, LOS rate: -0.100562 deg/s, posRepo size: 4
2021-08-15T01:24:22.151Z,1628990662.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.100002 m,
      bearing: 100.190795 deg,
      approachRate: -0.468899 m/s,
      LOS rate: -0.100562 deg/s,
      cmd update: -0.402249 deg/s,
      cmd heading: 109.433543 deg,
      new cmd heading: 110.073743 deg.

2021-08-15T01:24:24.617Z,1628990664.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:24:24.946Z,1628990664.946 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:24:24.946Z,1628990664.946 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:24:24.946Z,1628990664.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:24:24.947Z,1628990664.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:24:25.341Z,1628990665.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,003C0,182,80,80,AA,FF
2021-08-15T01:24:25.342Z,1628990665.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:24:25.342Z,1628990665.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:24:25.343Z,1628990665.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:24:25.790Z,1628990665.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:24:26.605Z,1628990666.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012426.61*5A

2021-08-15T01:24:27.399Z,1628990667.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:24:28.998Z,1628990668.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,182,80,80,AA,FF
2021-08-15T01:24:28.998Z,1628990668.998 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,182,80,80,AA,FF
2021-08-15T01:24:28.999Z,1628990668.999 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:24:30.222Z,1628990670.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:24:30.620Z,1628990670.620 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:24:30.620Z,1628990670.620 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:24:30.621Z,1628990670.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:24:30.622Z,1628990670.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:24:31.001Z,1628990671.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,182,80,80,AA,FF
2021-08-15T01:24:31.001Z,1628990671.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:24:31.001Z,1628990671.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:24:31.003Z,1628990671.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:24:31.415Z,1628990671.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:24:31.801Z,1628990671.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,054,000,00359,184,80,80,99,FF
2021-08-15T01:24:31.801Z,1628990671.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:24:31.832Z,1628990671.832 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:24:32.242Z,1628990672.242 [Micromodem](INFO): Nmea in: $SNTTA,0.042198,,,,012432.27*45

2021-08-15T01:24:32.280Z,1628990672.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.919997 m, bearing: 99.628629 deg, deltaT: 10.067511 s, approachRate: -0.613856 m/s, LOS rate: -0.055840 deg/s, posRepo size: 4
2021-08-15T01:24:32.282Z,1628990672.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.919997 m,
      bearing: 99.628629 deg,
      approachRate: -0.613856 m/s,
      LOS rate: -0.055840 deg/s,
      cmd update: -0.223358 deg/s,
      cmd heading: 105.382379 deg,
      new cmd heading: 105.200876 deg.

2021-08-15T01:24:34.759Z,1628990674.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:24:35.033Z,1628990675.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:24:35.033Z,1628990675.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:24:35.033Z,1628990675.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:24:35.034Z,1628990675.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:24:35.437Z,1628990675.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
054,000,00359,184,80,80,99,FF
2021-08-15T01:24:35.437Z,1628990675.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:24:35.438Z,1628990675.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:24:35.439Z,1628990675.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:24:35.852Z,1628990675.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:24:36.255Z,1628990676.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,00331,184,80,80,83,FF
2021-08-15T01:24:36.256Z,1628990676.256 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:24:36.323Z,1628990676.323 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:24:36.708Z,1628990676.708 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012436.70*5B

2021-08-15T01:24:36.790Z,1628990676.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 98.502133 deg, deltaT: 4.495692 s, approachRate: -0.533843 m/s, LOS rate: -0.250572 deg/s, posRepo size: 4
2021-08-15T01:24:36.793Z,1628990676.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 98.502133 deg,
      approachRate: -0.533843 m/s,
      LOS rate: -0.250572 deg/s,
      cmd update: -1.002289 deg/s,
      cmd heading: 104.380150 deg,
      new cmd heading: 104.274144 deg.

2021-08-15T01:24:39.091Z,1628990679.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:24:39.473Z,1628990679.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:24:39.473Z,1628990679.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:24:39.473Z,1628990679.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:24:39.474Z,1628990679.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:24:39.877Z,1628990679.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,00331,184,80,80,83,FF
2021-08-15T01:24:39.878Z,1628990679.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:24:39.878Z,1628990679.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:24:39.880Z,1628990679.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:24:40.294Z,1628990680.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:24:40.723Z,1628990680.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,0030B,185,80,80,AC,FF
2021-08-15T01:24:40.724Z,1628990680.724 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:24:40.822Z,1628990680.822 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:24:41.133Z,1628990681.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012441.14*59

2021-08-15T01:24:41.166Z,1628990681.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.240001 m, bearing: 98.326584 deg, deltaT: 4.494173 s, approachRate: -0.507324 m/s, LOS rate: -0.039062 deg/s, posRepo size: 4
2021-08-15T01:24:41.190Z,1628990681.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.240001 m,
      bearing: 98.326584 deg,
      approachRate: -0.507324 m/s,
      LOS rate: -0.039062 deg/s,
      cmd update: -0.156246 deg/s,
      cmd heading: 99.867136 deg,
      new cmd heading: 99.518703 deg.

2021-08-15T01:24:43.559Z,1628990683.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:24:43.933Z,1628990683.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:24:43.933Z,1628990683.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:24:43.933Z,1628990683.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:24:43.934Z,1628990683.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:24:44.329Z,1628990684.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,0030B,185,80,80,AC,FF
2021-08-15T01:24:44.329Z,1628990684.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:24:44.329Z,1628990684.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:24:44.331Z,1628990684.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:24:44.781Z,1628990684.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:24:45.153Z,1628990685.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,002EA,184,80,80,A4,FF
2021-08-15T01:24:45.153Z,1628990685.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:24:45.219Z,1628990685.219 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:24:45.613Z,1628990685.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012445.60*5E

2021-08-15T01:24:45.655Z,1628990685.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.259999 m, bearing: 100.103485 deg, deltaT: 4.402153 s, approachRate: -0.449780 m/s, LOS rate: 0.403644 deg/s, posRepo size: 4
2021-08-15T01:24:45.657Z,1628990685.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 100.103485 deg,
      approachRate: -0.449780 m/s,
      LOS rate: 0.403644 deg/s,
      cmd update: 1.614575 deg/s,
      cmd heading: 99.181811 deg,
      new cmd heading: 99.111441 deg.

2021-08-15T01:24:48.010Z,1628990688.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:24:48.393Z,1628990688.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:24:48.393Z,1628990688.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:24:48.393Z,1628990688.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:24:48.394Z,1628990688.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:24:48.789Z,1628990688.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,002EA,184,80,80,A4,FF
2021-08-15T01:24:48.789Z,1628990688.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:24:48.789Z,1628990688.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:24:48.791Z,1628990688.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:24:49.195Z,1628990689.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:24:49.613Z,1628990689.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,002CD,187,80,80,97,FF
2021-08-15T01:24:49.614Z,1628990689.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:24:49.693Z,1628990689.693 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:24:50.082Z,1628990690.082 [Micromodem](INFO): Nmea in: $SNTTA,0.024941,,,,012450.05*4D

2021-08-15T01:24:50.129Z,1628990690.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.520000 m, bearing: 101.713456 deg, deltaT: 4.468741 s, approachRate: -0.389371 m/s, LOS rate: 0.360274 deg/s, posRepo size: 4
2021-08-15T01:24:50.131Z,1628990690.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 101.713456 deg,
      approachRate: -0.389371 m/s,
      LOS rate: 0.360274 deg/s,
      cmd update: 1.441096 deg/s,
      cmd heading: 106.421894 deg,
      new cmd heading: 107.132654 deg.

2021-08-15T01:24:52.513Z,1628990692.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:24:52.881Z,1628990692.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:24:52.881Z,1628990692.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:24:52.881Z,1628990692.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:24:52.882Z,1628990692.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:24:53.285Z,1628990693.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,002CD,187,80,80,97,FF
2021-08-15T01:24:53.285Z,1628990693.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:24:53.285Z,1628990693.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:24:53.287Z,1628990693.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:24:53.692Z,1628990693.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:24:54.105Z,1628990694.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C8,000,002CA,186,80,80,51,FF
2021-08-15T01:24:54.105Z,1628990694.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:24:54.186Z,1628990694.186 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:24:54.525Z,1628990694.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012454.56*5B

2021-08-15T01:24:54.609Z,1628990694.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 80.060178 deg, deltaT: 4.493255 s, approachRate: -0.040060 m/s, LOS rate: -4.819063 deg/s, posRepo size: 4
2021-08-15T01:24:54.611Z,1628990694.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 80.060178 deg,
      approachRate: -0.040060 m/s,
      LOS rate: -4.819063 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 112.881292 deg,
      new cmd heading: 113.506619 deg.

2021-08-15T01:24:56.984Z,1628990696.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:24:57.325Z,1628990697.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:24:57.325Z,1628990697.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:24:57.325Z,1628990697.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:24:57.326Z,1628990697.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:24:57.741Z,1628990697.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C8,000,002CA,186,80,80,51,FF
2021-08-15T01:24:57.741Z,1628990697.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:24:57.741Z,1628990697.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:24:57.743Z,1628990697.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:24:58.136Z,1628990698.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:24:58.549Z,1628990698.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,002D4,186,80,80,8C,FF
2021-08-15T01:24:58.550Z,1628990698.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:24:58.643Z,1628990698.643 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:24:58.981Z,1628990698.981 [Micromodem](INFO): Nmea in: $SNTTA,0.028733,,,,012459.01*47

2021-08-15T01:24:59.061Z,1628990699.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.940001 m, bearing: 117.806365 deg, deltaT: 4.461437 s, approachRate: 0.134486 m/s, LOS rate: 8.460544 deg/s, posRepo size: 4
2021-08-15T01:24:59.063Z,1628990699.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 117.806365 deg,
      approachRate: 0.134486 m/s,
      LOS rate: 8.460544 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 59.322950 deg,
      new cmd heading: 54.203534 deg.

2021-08-15T01:25:01.397Z,1628990701.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:25:01.769Z,1628990701.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:25:01.769Z,1628990701.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:25:01.769Z,1628990701.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:25:01.770Z,1628990701.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:25:02.174Z,1628990702.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,002D4,186,80,80,8C,FF
2021-08-15T01:25:02.174Z,1628990702.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:25:02.174Z,1628990702.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:25:02.177Z,1628990702.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:25:02.607Z,1628990702.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:25:02.989Z,1628990702.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,00319,186,80,80,AE,FF
2021-08-15T01:25:02.990Z,1628990702.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:25:02.993Z,1628990702.993 [Micromodem](INFO): Nmea in: $SNTTA,0.023395,0.154701,,,012503.44*53

2021-08-15T01:25:03.091Z,1628990703.091 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:25:03.435Z,1628990703.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.080001 m, bearing: 108.610581 deg, deltaT: 4.448993 s, approachRate: 0.930548 m/s, LOS rate: -2.066936 deg/s, posRepo size: 4
2021-08-15T01:25:03.453Z,1628990703.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 108.610581 deg,
      approachRate: 0.930548 m/s,
      LOS rate: -2.066936 deg/s,
      cmd update: -8.267744 deg/s,
      cmd heading: 112.631800 deg,
      new cmd heading: 116.935672 deg.

2021-08-15T01:25:05.844Z,1628990705.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:25:06.221Z,1628990706.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:25:06.221Z,1628990706.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:25:06.222Z,1628990706.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:25:06.223Z,1628990706.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:25:06.645Z,1628990706.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,00319,186,80,80,AE,FF
2021-08-15T01:25:06.645Z,1628990706.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:25:06.645Z,1628990706.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:25:06.647Z,1628990706.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:25:07.033Z,1628990707.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:25:07.846Z,1628990707.846 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012507.91*57

2021-08-15T01:25:08.754Z,1628990708.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:25:10.253Z,1628990710.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,AE,FF
2021-08-15T01:25:10.253Z,1628990710.253 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,AE,FF
2021-08-15T01:25:10.253Z,1628990710.253 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:25:11.499Z,1628990711.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:25:11.873Z,1628990711.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:25:11.873Z,1628990711.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:25:11.873Z,1628990711.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:25:11.874Z,1628990711.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:25:12.273Z,1628990712.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,AE,FF
2021-08-15T01:25:12.273Z,1628990712.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:25:12.273Z,1628990712.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:25:12.275Z,1628990712.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:25:12.723Z,1628990712.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:25:13.081Z,1628990713.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,00351,186,80,80,77,FF
2021-08-15T01:25:13.081Z,1628990713.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:25:13.107Z,1628990713.107 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:25:13.525Z,1628990713.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012513.54*5B

2021-08-15T01:25:13.621Z,1628990713.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.439999 m, bearing: 85.337715 deg, deltaT: 10.010302 s, approachRate: 0.335654 m/s, LOS rate: -2.324891 deg/s, posRepo size: 4
2021-08-15T01:25:13.625Z,1628990713.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.439999 m,
      bearing: 85.337715 deg,
      approachRate: 0.335654 m/s,
      LOS rate: -2.324891 deg/s,
      cmd update: -9.299566 deg/s,
      cmd heading: 29.771277 deg,
      new cmd heading: 25.469801 deg.

2021-08-15T01:25:15.950Z,1628990715.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:25:16.317Z,1628990716.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:25:16.317Z,1628990716.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:25:16.317Z,1628990716.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:25:16.318Z,1628990716.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:25:16.765Z,1628990716.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,00351,186,80,80,77,FF
2021-08-15T01:25:16.765Z,1628990716.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:25:16.765Z,1628990716.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:25:16.767Z,1628990716.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:25:17.164Z,1628990717.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:25:17.572Z,1628990717.572 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,00383,184,80,80,7D,FF
2021-08-15T01:25:17.573Z,1628990717.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:25:17.656Z,1628990717.656 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:25:18.004Z,1628990718.004 [Micromodem](INFO): Nmea in: $SNTTA,0.142142,,,,012518.03*4C

2021-08-15T01:25:18.026Z,1628990718.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.439999 m, bearing: 57.951887 deg, deltaT: 4.549542 s, approachRate: 0.659407 m/s, LOS rate: -6.019469 deg/s, posRepo size: 4
2021-08-15T01:25:18.031Z,1628990718.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.439999 m,
      bearing: 57.951887 deg,
      approachRate: 0.659407 m/s,
      LOS rate: -6.019469 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 347.494717 deg,
      new cmd heading: 343.955470 deg.

2021-08-15T01:25:20.424Z,1628990720.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:25:20.801Z,1628990720.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:25:20.801Z,1628990720.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:25:20.801Z,1628990720.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:25:20.802Z,1628990720.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:25:21.198Z,1628990721.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,00383,184,80,80,7D,FF
2021-08-15T01:25:21.198Z,1628990721.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:25:21.198Z,1628990721.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:25:21.201Z,1628990721.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:25:21.633Z,1628990721.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:25:21.645Z,1628990721.645 [PowerOnly](INFO): Powering down loadControl
2021-08-15T01:25:22.005Z,1628990722.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,00396,185,80,80,3B,FF
2021-08-15T01:25:22.005Z,1628990722.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:25:22.050Z,1628990722.050 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:25:22.442Z,1628990722.442 [Micromodem](INFO): Nmea in: $SNTTA,0.033006,,,,012522.47*43

2021-08-15T01:25:22.461Z,1628990722.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.580000 m, bearing: 44.073182 deg, deltaT: 4.393505 s, approachRate: 0.259474 m/s, LOS rate: -3.158914 deg/s, posRepo size: 4
2021-08-15T01:25:22.461Z,1628990722.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.58 m. Rolling out.
2021-08-15T01:25:22.461Z,1628990722.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T01:25:24.912Z,1628990724.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:25:25.241Z,1628990725.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:25:25.241Z,1628990725.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:25:25.241Z,1628990725.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:25:25.242Z,1628990725.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:25:25.645Z,1628990725.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,00396,185,80,80,3B,FF
2021-08-15T01:25:25.646Z,1628990725.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:25:25.646Z,1628990725.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:25:25.647Z,1628990725.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:25:26.053Z,1628990726.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:25:26.449Z,1628990726.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36E,000,003AA,189,80,80,88,FF
2021-08-15T01:25:26.450Z,1628990726.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:25:26.502Z,1628990726.502 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:25:26.965Z,1628990726.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012526.91*54

2021-08-15T01:25:27.023Z,1628990727.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 348.488273 deg, deltaT: 4.452516 s, approachRate: 0.269510 m/s, LOS rate: -12.483934 deg/s, posRepo size: 4
2021-08-15T01:25:29.306Z,1628990729.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:25:29.681Z,1628990729.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:25:29.681Z,1628990729.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:25:29.681Z,1628990729.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:25:29.682Z,1628990729.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:25:30.085Z,1628990730.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36E,000,003AA,189,80,80,88,FF
2021-08-15T01:25:30.085Z,1628990730.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:25:30.085Z,1628990730.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:25:30.087Z,1628990730.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:25:30.503Z,1628990730.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:25:30.905Z,1628990730.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,003CB,186,80,80,8B,FF
2021-08-15T01:25:30.906Z,1628990730.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:25:31.035Z,1628990731.035 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:25:31.334Z,1628990731.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012531.35*5C

2021-08-15T01:25:31.350Z,1628990731.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 352.484589 deg, deltaT: 4.532707 s, approachRate: 0.436825 m/s, LOS rate: 0.881662 deg/s, posRepo size: 4
2021-08-15T01:25:33.754Z,1628990733.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:25:34.125Z,1628990734.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:25:34.125Z,1628990734.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:25:34.125Z,1628990734.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:25:34.126Z,1628990734.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:25:34.533Z,1628990734.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D5,000,003CB,186,80,80,8B,FF
2021-08-15T01:25:34.533Z,1628990734.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:25:34.533Z,1628990734.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:25:34.535Z,1628990734.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:25:34.981Z,1628990734.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:25:35.365Z,1628990735.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,191,000,003DF,186,80,80,60,FF
2021-08-15T01:25:35.366Z,1628990735.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:25:35.386Z,1628990735.386 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:25:35.853Z,1628990735.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012535.80*56

2021-08-15T01:25:35.907Z,1628990735.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 338.982152 deg, deltaT: 4.350933 s, approachRate: 0.275803 m/s, LOS rate: -3.103343 deg/s, posRepo size: 4
2021-08-15T01:25:38.246Z,1628990738.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:25:38.645Z,1628990738.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:25:38.645Z,1628990738.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:25:38.646Z,1628990738.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:25:38.646Z,1628990738.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:25:39.037Z,1628990739.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
191,000,003DF,186,80,80,60,FF
2021-08-15T01:25:39.037Z,1628990739.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:25:39.037Z,1628990739.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:25:39.039Z,1628990739.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:25:39.436Z,1628990739.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:25:39.829Z,1628990739.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F7,000,003ED,186,80,80,AB,FF
2021-08-15T01:25:39.830Z,1628990739.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:25:39.895Z,1628990739.895 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:25:40.265Z,1628990740.265 [Micromodem](INFO): Nmea in: $SNTTA,0.035738,,,,012540.30*4B

2021-08-15T01:25:40.303Z,1628990740.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.799997 m, bearing: 319.149359 deg, deltaT: 4.508965 s, approachRate: 0.186296 m/s, LOS rate: -4.398524 deg/s, posRepo size: 4
2021-08-15T01:25:42.746Z,1628990742.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:25:43.061Z,1628990743.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:25:43.062Z,1628990743.062 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:25:43.062Z,1628990743.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:25:43.063Z,1628990743.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:25:43.082Z,1628990743.082 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T01:25:43.477Z,1628990743.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F7,000,003ED,186,80,80,AB,FF
2021-08-15T01:25:43.477Z,1628990743.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:25:43.478Z,1628990743.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:25:43.479Z,1628990743.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:25:43.877Z,1628990743.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:25:44.282Z,1628990744.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,363,000,003F7,189,80,80,4A,FF
2021-08-15T01:25:44.282Z,1628990744.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:25:44.303Z,1628990744.303 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:25:44.742Z,1628990744.742 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012544.74*5B

2021-08-15T01:25:44.812Z,1628990744.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 286.350845 deg, deltaT: 4.407700 s, approachRate: 0.136126 m/s, LOS rate: -7.441185 deg/s, posRepo size: 4
2021-08-15T01:25:46.815Z,1628990746.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:25:47.117Z,1628990747.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:25:47.117Z,1628990747.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:25:47.117Z,1628990747.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:25:47.118Z,1628990747.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:25:47.518Z,1628990747.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
363,000,003F7,189,80,80,4A,FF
2021-08-15T01:25:47.518Z,1628990747.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:25:47.518Z,1628990747.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:25:47.520Z,1628990747.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:25:47.917Z,1628990747.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:25:48.318Z,1628990748.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC3,000,003FC,189,80,80,6D,FF
2021-08-15T01:25:48.318Z,1628990748.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:25:48.338Z,1628990748.338 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:25:48.781Z,1628990748.781 [Micromodem](INFO): Nmea in: $SNTTA,,0.484215,,,012548.78*4B

2021-08-15T01:25:48.854Z,1628990748.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.700001 m, bearing: 340.494574 deg, deltaT: 4.035610 s, approachRate: 0.074338 m/s, LOS rate: 13.416492 deg/s, posRepo size: 4
2021-08-15T01:25:50.843Z,1628990750.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:25:51.149Z,1628990751.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:25:51.149Z,1628990751.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:25:51.149Z,1628990751.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:25:51.150Z,1628990751.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:25:51.556Z,1628990751.556 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC3,000,003FC,189,80,80,6D,FF
2021-08-15T01:25:51.557Z,1628990751.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:25:51.557Z,1628990751.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:25:51.572Z,1628990751.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:25:51.977Z,1628990751.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:25:52.786Z,1628990752.786 [Micromodem](INFO): Nmea in: $SNTTA,,0.457476,,,012552.84*4E

2021-08-15T01:25:53.653Z,1628990753.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:25:55.187Z,1628990755.187 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,6D,FF
2021-08-15T01:25:55.187Z,1628990755.187 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,6D,FF
2021-08-15T01:25:55.187Z,1628990755.187 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:25:56.423Z,1628990756.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:25:56.821Z,1628990756.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:25:56.821Z,1628990756.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:25:56.821Z,1628990756.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:25:56.822Z,1628990756.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:25:57.206Z,1628990757.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,6D,FF
2021-08-15T01:25:57.206Z,1628990757.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:25:57.206Z,1628990757.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:25:57.208Z,1628990757.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:25:57.636Z,1628990757.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:25:58.453Z,1628990758.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012558.47*56

2021-08-15T01:25:59.247Z,1628990759.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:26:00.846Z,1628990760.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,6D,FF
2021-08-15T01:26:00.846Z,1628990760.846 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,6D,FF
2021-08-15T01:26:00.846Z,1628990760.846 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:26:02.105Z,1628990762.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:26:02.462Z,1628990762.462 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:26:02.462Z,1628990762.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:26:02.462Z,1628990762.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:26:02.463Z,1628990762.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:26:02.862Z,1628990762.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,6D,FF
2021-08-15T01:26:02.862Z,1628990762.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:26:02.862Z,1628990762.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:26:02.892Z,1628990762.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:26:03.269Z,1628990763.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:26:03.670Z,1628990763.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C2E,000,003F8,189,80,80,64,FF
2021-08-15T01:26:03.670Z,1628990763.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:26:03.713Z,1628990763.713 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:26:04.101Z,1628990764.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012604.16*58

2021-08-15T01:26:04.140Z,1628990764.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.459999 m, bearing: 336.609071 deg, deltaT: 15.374886 s, approachRate: -0.015610 m/s, LOS rate: -0.252718 deg/s, posRepo size: 4
2021-08-15T01:26:06.519Z,1628990766.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:26:06.906Z,1628990766.906 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:26:06.906Z,1628990766.906 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:26:06.906Z,1628990766.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:26:06.907Z,1628990766.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:26:07.306Z,1628990767.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C2E,000,003F8,189,80,80,64,FF
2021-08-15T01:26:07.306Z,1628990767.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:26:07.306Z,1628990767.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:26:07.332Z,1628990767.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:26:07.717Z,1628990767.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:26:08.125Z,1628990768.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36E,000,003FC,189,80,80,89,FF
2021-08-15T01:26:08.125Z,1628990768.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:26:08.145Z,1628990768.145 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:26:08.543Z,1628990768.543 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012608.60*55

2021-08-15T01:26:08.615Z,1628990768.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.700001 m, bearing: 244.881953 deg, deltaT: 4.432160 s, approachRate: 0.054150 m/s, LOS rate: -20.695804 deg/s, posRepo size: 4
2021-08-15T01:26:11.019Z,1628990771.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:26:11.345Z,1628990771.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:26:11.346Z,1628990771.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:26:11.346Z,1628990771.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:26:11.347Z,1628990771.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:26:11.750Z,1628990771.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36E,000,003FC,189,80,80,89,FF
2021-08-15T01:26:11.750Z,1628990771.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:26:11.750Z,1628990771.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:26:11.751Z,1628990771.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:26:12.165Z,1628990772.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:26:12.562Z,1628990772.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,00411,186,80,80,9D,FF
2021-08-15T01:26:12.563Z,1628990772.563 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:26:12.643Z,1628990772.643 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:26:13.009Z,1628990773.009 [Micromodem](INFO): Nmea in: $SNTTA,,0.404556,,,012613.02*43

2021-08-15T01:26:13.108Z,1628990773.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 264.503392 deg, deltaT: 4.507186 s, approachRate: 0.279553 m/s, LOS rate: 4.353368 deg/s, posRepo size: 4
2021-08-15T01:26:15.418Z,1628990775.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:26:15.789Z,1628990775.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:26:15.790Z,1628990775.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:26:15.790Z,1628990775.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:26:15.791Z,1628990775.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:26:16.205Z,1628990776.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,00411,186,80,80,9D,FF
2021-08-15T01:26:16.206Z,1628990776.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:26:16.206Z,1628990776.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:26:16.207Z,1628990776.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:26:16.634Z,1628990776.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:26:17.019Z,1628990777.019 [Micromodem](INFO): Nmea in: $SNTTA,0.178855,0.179805,,,012617.47*5A

2021-08-15T01:26:18.246Z,1628990778.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:26:19.834Z,1628990779.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,9D,FF
2021-08-15T01:26:19.834Z,1628990779.834 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,9D,FF
2021-08-15T01:26:19.834Z,1628990779.834 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:26:20.751Z,1628990780.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:26:21.057Z,1628990781.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:26:21.057Z,1628990781.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:26:21.057Z,1628990781.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:26:21.058Z,1628990781.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:26:21.453Z,1628990781.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,9D,FF
2021-08-15T01:26:21.453Z,1628990781.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:26:21.454Z,1628990781.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:26:21.455Z,1628990781.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:26:21.873Z,1628990781.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:26:22.258Z,1628990782.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,323,000,00454,189,80,80,70,FF
2021-08-15T01:26:22.258Z,1628990782.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:26:22.315Z,1628990782.315 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:26:22.741Z,1628990782.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012622.72*5E

2021-08-15T01:26:22.814Z,1628990782.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.979998 m, bearing: 248.968182 deg, deltaT: 9.662214 s, approachRate: 0.416054 m/s, LOS rate: -1.607831 deg/s, posRepo size: 4
2021-08-15T01:26:25.135Z,1628990785.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:26:25.485Z,1628990785.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:26:25.485Z,1628990785.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:26:25.485Z,1628990785.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:26:25.486Z,1628990785.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:26:25.890Z,1628990785.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
323,000,00454,189,80,80,70,FF
2021-08-15T01:26:25.890Z,1628990785.890 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:26:25.890Z,1628990785.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:26:25.894Z,1628990785.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:26:26.297Z,1628990786.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:26:26.745Z,1628990786.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,380,000,0047C,189,80,80,3F,FF
2021-08-15T01:26:26.746Z,1628990786.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:26:26.831Z,1628990786.831 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:26:27.133Z,1628990787.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012627.16*59

2021-08-15T01:26:27.176Z,1628990787.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.379999 m, bearing: 245.413888 deg, deltaT: 4.520804 s, approachRate: 0.530879 m/s, LOS rate: -0.786208 deg/s, posRepo size: 4
2021-08-15T01:26:29.547Z,1628990789.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:26:29.933Z,1628990789.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:26:29.934Z,1628990789.934 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:26:29.934Z,1628990789.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:26:29.935Z,1628990789.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:26:30.338Z,1628990790.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
380,000,0047C,189,80,80,3F,FF
2021-08-15T01:26:30.338Z,1628990790.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:26:30.338Z,1628990790.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:26:30.341Z,1628990790.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:26:30.779Z,1628990790.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:26:31.145Z,1628990791.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,45A,000,004A8,18A,80,80,3F,FF
2021-08-15T01:26:31.146Z,1628990791.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:26:31.166Z,1628990791.166 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:26:31.605Z,1628990791.605 [Micromodem](INFO): Nmea in: $SNTTA,0.045727,,,,012631.61*43

2021-08-15T01:26:31.611Z,1628990791.611 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:26:31.632Z,1628990791.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.020000 m, bearing: 235.149753 deg, deltaT: 4.330452 s, approachRate: 0.609636 m/s, LOS rate: -2.370222 deg/s, posRepo size: 4
2021-08-15T01:26:34.019Z,1628990794.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:26:34.377Z,1628990794.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:26:34.377Z,1628990794.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:26:34.377Z,1628990794.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:26:34.378Z,1628990794.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:26:34.782Z,1628990794.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
45A,000,004A8,18A,80,80,3F,FF
2021-08-15T01:26:34.782Z,1628990794.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:26:34.782Z,1628990794.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:26:34.784Z,1628990794.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:26:35.194Z,1628990795.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:26:35.594Z,1628990795.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,332,000,004D6,189,80,80,84,FF
2021-08-15T01:26:35.594Z,1628990795.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:26:35.674Z,1628990795.674 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:26:36.025Z,1628990796.025 [Micromodem](INFO): Nmea in: $SNTTA,0.205154,,,,012636.05*42

2021-08-15T01:26:36.056Z,1628990796.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.779999 m, bearing: 249.319718 deg, deltaT: 4.508381 s, approachRate: 0.612193 m/s, LOS rate: 3.143027 deg/s, posRepo size: 4
2021-08-15T01:26:38.446Z,1628990798.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:26:38.821Z,1628990798.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:26:38.821Z,1628990798.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:26:38.821Z,1628990798.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:26:38.822Z,1628990798.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:26:39.241Z,1628990799.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
332,000,004D6,189,80,80,84,FF
2021-08-15T01:26:39.241Z,1628990799.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:26:39.241Z,1628990799.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:26:39.243Z,1628990799.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:26:39.641Z,1628990799.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:26:40.035Z,1628990800.035 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,361,000,00500,189,80,80,6F,FF
2021-08-15T01:26:40.035Z,1628990800.035 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:26:40.056Z,1628990800.056 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:26:40.465Z,1628990800.465 [Micromodem](INFO): Nmea in: $SNTTA,0.045569,,,,012640.51*4E

2021-08-15T01:26:40.522Z,1628990800.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.299999 m, bearing: 247.235035 deg, deltaT: 4.381687 s, approachRate: 0.575121 m/s, LOS rate: -0.475772 deg/s, posRepo size: 4
2021-08-15T01:26:42.952Z,1628990802.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:26:43.274Z,1628990803.274 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:26:43.274Z,1628990803.274 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:26:43.274Z,1628990803.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:26:43.275Z,1628990803.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:26:43.673Z,1628990803.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
361,000,00500,189,80,80,6F,FF
2021-08-15T01:26:43.673Z,1628990803.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:26:43.673Z,1628990803.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:26:43.675Z,1628990803.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:26:44.083Z,1628990804.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:26:44.906Z,1628990804.906 [Micromodem](INFO): Nmea in: $SNTTA,,0.445718,,,012644.94*43

2021-08-15T01:26:45.730Z,1628990805.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:26:47.309Z,1628990807.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,189,80,80,6F,FF
2021-08-15T01:26:47.309Z,1628990807.309 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,189,80,80,6F,FF
2021-08-15T01:26:47.310Z,1628990807.310 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:26:47.355Z,1628990807.355 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T01:26:47.355Z,1628990807.355 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T01:26:47.356Z,1628990807.356 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T01:26:47.356Z,1628990807.356 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T01:26:47.356Z,1628990807.356 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T01:26:47.971Z,1628990807.971 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 06411861270000005D000004003E0000000000000000151D80030C5669C08C7A9720476D927AF4871EC01B37EB9F3A36492E7DD8F31D686858600E8027DDEFDE
2021-08-15T01:26:47.972Z,1628990807.972 [Micromodem](INFO): Outgoing frame #2, 20 bytes: D3F939A1BBD3573E30CB32AC8E4BEC563D015C00
2021-08-15T01:26:47.972Z,1628990807.972 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-15T01:26:48.246Z,1628990808.246 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-15T01:26:48.275Z,1628990808.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:26:48.650Z,1628990808.650 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:26:48.650Z,1628990808.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:26:48.650Z,1628990808.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:26:48.651Z,1628990808.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:26:48.658Z,1628990808.658 [Micromodem](INFO): Nmea in: $CADRQ,012649,1,10,0,64,1*7E

2021-08-15T01:26:48.661Z,1628990808.661 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861270000005D000004003E0000000000000000151D80030C5669C08C7A9720476D927AF4871EC01B37EB9F3A36492E7DD8F31D686858600E8027DDEFDE*3F

2021-08-15T01:26:49.037Z,1628990809.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,189,80,80,6F,FF
2021-08-15T01:26:49.037Z,1628990809.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:26:49.038Z,1628990809.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:26:49.039Z,1628990809.039 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T01:26:49.040Z,1628990809.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:26:49.435Z,1628990809.435 [Micromodem](INFO): Nmea in: $CADRQ,012649,1,10,0,64,2*7D

2021-08-15T01:26:49.436Z,1628990809.436 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,012649,1,10,0,64,2*7D

2021-08-15T01:26:49.889Z,1628990809.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E3,000,00566,189,80,80,4D,FF
2021-08-15T01:26:49.889Z,1628990809.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:26:49.894Z,1628990809.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:26:49.955Z,1628990809.955 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:26:50.317Z,1628990810.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012650.31*5C

2021-08-15T01:26:50.358Z,1628990810.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.419998 m, bearing: 240.587403 deg, deltaT: 9.899622 s, approachRate: 0.618205 m/s, LOS rate: -0.671504 deg/s, posRepo size: 4
2021-08-15T01:26:50.827Z,1628990810.827 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T01:26:50.827Z,1628990810.827 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:26:50.829Z,1628990810.829 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T01:26:50.876Z,1628990810.876 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T01:26:50.876Z,1628990810.876 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T01:26:50.876Z,1628990810.876 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T01:26:51.145Z,1628990811.145 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T01:26:51.146Z,1628990811.146 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:26:51.146Z,1628990811.146 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T01:26:51.146Z,1628990811.146 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:26:52.820Z,1628990812.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:26:53.121Z,1628990813.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:26:53.121Z,1628990813.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:26:53.121Z,1628990813.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:26:53.122Z,1628990813.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:26:53.529Z,1628990813.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E3,000,00566,189,80,80,4D,FF
2021-08-15T01:26:53.529Z,1628990813.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:26:53.529Z,1628990813.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:26:53.531Z,1628990813.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:26:53.929Z,1628990813.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:26:54.381Z,1628990814.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C83,000,0059D,189,80,80,6B,FF
2021-08-15T01:26:54.381Z,1628990814.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:26:54.790Z,1628990814.790 [Micromodem](INFO): Nmea in: $SNTTA,0.047028,0.476453,,,012654.80*5C

2021-08-15T01:26:54.855Z,1628990814.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.720001 m, bearing: 335.047116 deg, deltaT: 4.445735 s, approachRate: 0.742285 m/s, LOS rate: 21.247265 deg/s, posRepo size: 4
2021-08-15T01:26:57.265Z,1628990817.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:26:57.633Z,1628990817.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:26:57.633Z,1628990817.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:26:57.633Z,1628990817.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:26:57.634Z,1628990817.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:26:57.998Z,1628990817.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C83,000,0059D,189,80,80,6B,FF
2021-08-15T01:26:57.998Z,1628990817.998 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:26:57.998Z,1628990817.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:26:58.000Z,1628990818.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:26:58.438Z,1628990818.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:26:58.809Z,1628990818.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,002CA,189,80,80,5A,FF
2021-08-15T01:26:58.810Z,1628990818.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:26:58.865Z,1628990818.865 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T01:26:59.265Z,1628990819.265 [Micromodem](INFO): Nmea in: $SNTTA,0.016646,,,,012659.27*4F

2021-08-15T01:26:59.284Z,1628990819.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 226.451985 deg, deltaT: 4.504247 s, approachRate: -9.630911 m/s, LOS rate: -24.109497 deg/s, posRepo size: 4
2021-08-15T01:26:59.682Z,1628990819.682 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T01:26:59.682Z,1628990819.682 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:26:59.682Z,1628990819.682 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T01:26:59.682Z,1628990819.682 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T01:26:59.683Z,1628990819.683 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T01:26:59.683Z,1628990819.683 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T01:27:00.084Z,1628990820.084 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T01:27:00.085Z,1628990820.085 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:27:00.085Z,1628990820.085 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T01:27:00.085Z,1628990820.085 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:27:01.762Z,1628990821.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:27:02.110Z,1628990822.110 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:27:02.110Z,1628990822.110 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:27:02.110Z,1628990822.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:27:02.111Z,1628990822.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:27:02.509Z,1628990822.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,002CA,189,80,80,5A,FF
2021-08-15T01:27:02.509Z,1628990822.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:27:02.509Z,1628990822.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:27:02.511Z,1628990822.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:27:03.146Z,1628990823.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:27:03.539Z,1628990823.539 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAF,000,00605,189,80,80,A2,FF
2021-08-15T01:27:03.540Z,1628990823.540 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:27:03.607Z,1628990823.607 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:27:04.012Z,1628990824.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.960007 m, bearing: 319.880162 deg, deltaT: 4.701017 s, approachRate: 10.555164 m/s, LOS rate: 19.874035 deg/s, posRepo size: 4
2021-08-15T01:27:04.395Z,1628990824.395 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T01:27:04.395Z,1628990824.395 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:27:04.395Z,1628990824.395 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T01:27:04.396Z,1628990824.396 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T01:27:04.396Z,1628990824.396 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T01:27:04.396Z,1628990824.396 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T01:27:04.850Z,1628990824.850 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T01:27:04.850Z,1628990824.850 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:27:04.850Z,1628990824.850 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T01:27:04.851Z,1628990824.851 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:27:06.407Z,1628990826.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:27:06.768Z,1628990826.768 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:27:06.768Z,1628990826.768 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:27:06.768Z,1628990826.768 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:27:06.769Z,1628990826.769 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:27:07.237Z,1628990827.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAF,000,00605,189,80,80,A2,FF
2021-08-15T01:27:07.237Z,1628990827.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:27:07.237Z,1628990827.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:27:07.239Z,1628990827.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:27:07.657Z,1628990827.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:27:08.023Z,1628990828.023 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E5,000,0063A,185,80,80,7A,FF
2021-08-15T01:27:08.023Z,1628990828.023 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:27:08.497Z,1628990828.497 [Micromodem](INFO): Nmea in: $SNTTA,0.049423,,,,012708.50*41

2021-08-15T01:27:08.559Z,1628990828.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.139999 m, bearing: 279.068142 deg, deltaT: 4.499439 s, approachRate: 0.706753 m/s, LOS rate: -9.070468 deg/s, posRepo size: 4
2021-08-15T01:27:10.973Z,1628990830.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:27:11.293Z,1628990831.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:27:11.293Z,1628990831.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:27:11.294Z,1628990831.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:27:11.294Z,1628990831.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:27:11.709Z,1628990831.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E5,000,0063A,185,80,80,7A,FF
2021-08-15T01:27:11.709Z,1628990831.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:27:11.709Z,1628990831.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:27:11.711Z,1628990831.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:27:12.113Z,1628990832.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:27:12.521Z,1628990832.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,0066A,187,80,80,67,FF
2021-08-15T01:27:12.521Z,1628990832.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:27:12.966Z,1628990832.966 [Micromodem](INFO): Nmea in: $SNTTA,,0.425941,,,012712.98*49

2021-08-15T01:27:13.076Z,1628990833.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.019997 m, bearing: 296.035398 deg, deltaT: 4.439496 s, approachRate: 0.648722 m/s, LOS rate: 3.821888 deg/s, posRepo size: 4
2021-08-15T01:27:15.092Z,1628990835.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:27:15.409Z,1628990835.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:27:15.410Z,1628990835.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:27:15.410Z,1628990835.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:27:15.411Z,1628990835.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:27:15.877Z,1628990835.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,0066A,187,80,80,67,FF
2021-08-15T01:27:15.877Z,1628990835.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:27:15.877Z,1628990835.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:27:15.879Z,1628990835.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:27:16.293Z,1628990836.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:27:16.715Z,1628990836.715 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA9,000,006A3,189,80,80,6D,FF
2021-08-15T01:27:16.724Z,1628990836.724 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:27:17.105Z,1628990837.105 [Micromodem](INFO): Nmea in: $SNTTA,0.343768,0.344086,,,012717.15*58

2021-08-15T01:27:17.135Z,1628990837.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.440002 m, bearing: 320.356417 deg, deltaT: 4.288559 s, approachRate: 0.797472 m/s, LOS rate: 5.671140 deg/s, posRepo size: 4
2021-08-15T01:27:19.117Z,1628990839.117 [Micromodem](INFO): Nmea in: $CAERR,012719,DATA_TIMEOUT,2*41

2021-08-15T01:27:19.522Z,1628990839.522 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-15T01:27:19.602Z,1628990839.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:27:19.917Z,1628990839.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:27:19.917Z,1628990839.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:27:19.917Z,1628990839.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:27:19.918Z,1628990839.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:27:20.385Z,1628990840.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA9,000,006A3,189,80,80,6D,FF
2021-08-15T01:27:20.385Z,1628990840.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:27:20.385Z,1628990840.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:27:20.387Z,1628990840.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:27:20.778Z,1628990840.778 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-15T01:27:20.778Z,1628990840.778 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2021-08-15T01:27:21.193Z,1628990841.193 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,012719.969042,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*5E

2021-08-15T01:27:21.194Z,1628990841.194 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,012719.969042,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*5E

2021-08-15T01:27:22.244Z,1628990842.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:27:22.811Z,1628990842.811 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T01:27:23.224Z,1628990843.224 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815012722.885620,06,32767,45,0129,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,14.9,4.57,13,-1.57,-01,0.65,40,14500,4000*67

2021-08-15T01:27:23.224Z,1628990843.224 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815012722.885620,06,32767,45,0129,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,14.9,4.57,13,-1.57,-01,0.65,40,14500,4000*67

2021-08-15T01:27:24.902Z,1628990844.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:27:26.052Z,1628990846.052 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.133899
2021-08-15T01:27:27.478Z,1628990847.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:27:27.849Z,1628990847.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:27:27.849Z,1628990847.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:27:27.849Z,1628990847.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:27:27.850Z,1628990847.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:27:28.261Z,1628990848.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA9,000,006A3,189,80,80,6D,FF
2021-08-15T01:27:28.261Z,1628990848.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:27:28.261Z,1628990848.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:27:29.979Z,1628990849.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:27:31.535Z,1628990851.535 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:27:31.929Z,1628990851.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:27:32.333Z,1628990852.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,00754,185,80,80,7A,FF
2021-08-15T01:27:32.333Z,1628990852.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:27:32.781Z,1628990852.781 [Micromodem](INFO): Nmea in: $SNTTA,0.068109,0.474540,,,012732.80*53

2021-08-15T01:27:32.861Z,1628990852.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.059998 m, bearing: 313.961830 deg, deltaT: 15.519480 s, approachRate: 0.684301 m/s, LOS rate: -0.412036 deg/s, posRepo size: 4
2021-08-15T01:27:34.911Z,1628990854.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:27:35.209Z,1628990855.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:27:35.209Z,1628990855.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:27:35.209Z,1628990855.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:27:35.210Z,1628990855.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:27:35.641Z,1628990855.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,00754,185,80,80,7A,FF
2021-08-15T01:27:35.641Z,1628990855.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:27:35.641Z,1628990855.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:27:35.643Z,1628990855.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:27:36.044Z,1628990856.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:27:36.449Z,1628990856.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,00787,186,80,80,9F,FF
2021-08-15T01:27:36.450Z,1628990856.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:27:36.877Z,1628990856.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012736.91*57

2021-08-15T01:27:36.948Z,1628990856.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.119995 m, bearing: 310.379587 deg, deltaT: 4.162906 s, approachRate: 0.735063 m/s, LOS rate: -0.860515 deg/s, posRepo size: 4
2021-08-15T01:27:39.310Z,1628990859.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:27:39.673Z,1628990859.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:27:39.673Z,1628990859.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:27:39.673Z,1628990859.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:27:39.674Z,1628990859.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:27:40.105Z,1628990860.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,00787,186,80,80,9F,FF
2021-08-15T01:27:40.106Z,1628990860.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:27:40.106Z,1628990860.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:27:40.107Z,1628990860.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:27:40.504Z,1628990860.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:27:40.913Z,1628990860.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,007C0,185,80,80,83,FF
2021-08-15T01:27:40.913Z,1628990860.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:27:40.917Z,1628990860.917 [Micromodem](INFO): Nmea in: $SNTTA,0.102791,0.227401,,,012741.38*5A

2021-08-15T01:27:41.369Z,1628990861.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.540001 m, bearing: 309.451365 deg, deltaT: 4.489617 s, approachRate: 0.761759 m/s, LOS rate: -0.206749 deg/s, posRepo size: 4
2021-08-15T01:27:43.769Z,1628990863.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:27:44.145Z,1628990864.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:27:44.145Z,1628990864.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:27:44.145Z,1628990864.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:27:44.146Z,1628990864.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:27:44.549Z,1628990864.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,007C0,185,80,80,83,FF
2021-08-15T01:27:44.549Z,1628990864.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:27:44.549Z,1628990864.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:27:44.552Z,1628990864.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:27:44.958Z,1628990864.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:27:45.349Z,1628990865.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,007F7,186,80,80,6B,FF
2021-08-15T01:27:45.350Z,1628990865.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:27:45.801Z,1628990865.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012745.82*51

2021-08-15T01:27:45.857Z,1628990865.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.840004 m, bearing: 309.694984 deg, deltaT: 4.440394 s, approachRate: 0.743178 m/s, LOS rate: 0.054864 deg/s, posRepo size: 4
2021-08-15T01:27:48.474Z,1628990868.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:27:48.656Z,1628990868.656 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:27:48.657Z,1628990868.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:27:48.657Z,1628990868.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:27:48.659Z,1628990868.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:27:49.049Z,1628990869.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,007F7,186,80,80,6B,FF
2021-08-15T01:27:49.049Z,1628990869.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:27:49.049Z,1628990869.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:27:49.051Z,1628990869.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:27:49.467Z,1628990869.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:27:49.857Z,1628990869.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,0082D,186,80,80,71,FF
2021-08-15T01:27:49.858Z,1628990869.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:27:50.302Z,1628990870.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012750.32*5E

2021-08-15T01:27:50.331Z,1628990870.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.080002 m, bearing: 309.803311 deg, deltaT: 4.479413 s, approachRate: 0.723309 m/s, LOS rate: 0.024183 deg/s, posRepo size: 4
2021-08-15T01:27:52.996Z,1628990872.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:27:53.153Z,1628990873.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:27:53.153Z,1628990873.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:27:53.153Z,1628990873.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:27:53.154Z,1628990873.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:27:53.158Z,1628990873.158 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T01:27:53.561Z,1628990873.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,0082D,186,80,80,71,FF
2021-08-15T01:27:53.562Z,1628990873.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:27:53.563Z,1628990873.563 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:27:53.570Z,1628990873.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:27:53.960Z,1628990873.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:27:54.163Z,1628990874.163 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 06411861270000005D000004003E0000000000000000151D80030C5669C08C7A9720476D927AF4871EC01B37EB9F3A36492E7DD8F31D686858600E8027DDEFDE
2021-08-15T01:27:54.164Z,1628990874.164 [Micromodem](INFO): Outgoing frame #2, 20 bytes: D3F939A1BBD3573E30CB32AC8E4BEC563D015C00
2021-08-15T01:27:54.164Z,1628990874.164 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-15T01:27:54.422Z,1628990874.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,00863,185,80,80,91,FF
2021-08-15T01:27:54.423Z,1628990874.423 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:27:54.426Z,1628990874.426 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-15T01:27:54.835Z,1628990874.835 [Micromodem](INFO): Nmea in: $CADRQ,012755,1,10,0,64,1*72

2021-08-15T01:27:54.835Z,1628990874.835 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861270000005D000004003E0000000000000000151D80030C5669C08C7A9720476D927AF4871EC01B37EB9F3A36492E7DD8F31D686858600E8027DDEFDE*3F

2021-08-15T01:27:55.249Z,1628990875.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.320000 m, bearing: 309.891994 deg, deltaT: 4.569660 s, approachRate: 0.709024 m/s, LOS rate: 0.019407 deg/s, posRepo size: 4
2021-08-15T01:27:55.434Z,1628990875.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012754.84*57

2021-08-15T01:27:55.434Z,1628990875.434 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,012754.84*57

2021-08-15T01:27:56.656Z,1628990876.656 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T01:27:57.027Z,1628990877.027 [Micromodem](INFO): Nmea in: $CADRQ,012756,1,10,0,64,2*72

2021-08-15T01:27:57.027Z,1628990877.027 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,D3F939A1BBD3573E30CB32AC8E4BEC563D015C00*37

2021-08-15T01:27:57.124Z,1628990877.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:27:57.433Z,1628990877.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:27:57.433Z,1628990877.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:27:57.433Z,1628990877.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:27:57.434Z,1628990877.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:27:57.441Z,1628990877.441 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,20*49

2021-08-15T01:27:57.837Z,1628990877.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,00863,185,80,80,91,FF
2021-08-15T01:27:57.837Z,1628990877.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:27:57.837Z,1628990877.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:27:57.839Z,1628990877.839 [Micromodem](INFO): Nmea in: $CATXP,84*7E

2021-08-15T01:27:57.840Z,1628990877.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:27:59.902Z,1628990879.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:28:00.274Z,1628990880.274 [Micromodem](INFO): Nmea in: $CATXF,84*68

2021-08-15T01:28:00.274Z,1628990880.274 [Micromodem](ERROR): Response from modem unexpected: $CATXF,84*68

2021-08-15T01:28:00.718Z,1628990880.718 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,012758.284705,3,0,200,4000,14500,1,1,10,1,2,2,3,84,14500*5A

2021-08-15T01:28:00.719Z,1628990880.719 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,012758.284705,3,0,200,4000,14500,1,1,10,1,2,2,3,84,14500*5A

2021-08-15T01:28:02.859Z,1628990882.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:28:03.103Z,1628990883.103 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T01:28:03.561Z,1628990883.561 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.126010
2021-08-15T01:28:03.566Z,1628990883.566 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-15T01:28:03.570Z,1628990883.570 [Micromodem](INFO): Sent 76 bytes from file Logs/20210814T221742/Courier0039.lzma.parts
2021-08-15T01:28:03.570Z,1628990883.570 [Micromodem](INFO): Packets left to send: 0
2021-08-15T01:28:03.914Z,1628990883.914 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815012803.087254,06,27741,44,0139,0150,37,02,02,00,02,1,010,001,0,4,1,0,150,11.6,2.73,08,0.27,-01,0.70,44,14500,4000*4D

2021-08-15T01:28:03.914Z,1628990883.914 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815012803.087254,06,27741,44,0139,0150,37,02,02,00,02,1,010,001,0,4,1,0,150,11.6,2.73,08,0.27,-01,0.70,44,14500,4000*4D

2021-08-15T01:28:04.140Z,1628990884.140 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T01:28:04.140Z,1628990884.140 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T01:28:04.141Z,1628990884.141 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T01:28:04.141Z,1628990884.141 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T01:28:04.141Z,1628990884.141 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T01:28:05.543Z,1628990885.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:28:05.709Z,1628990885.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:28:05.709Z,1628990885.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:28:05.709Z,1628990885.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:28:05.710Z,1628990885.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:28:06.105Z,1628990886.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,00863,185,80,80,91,FF
2021-08-15T01:28:06.105Z,1628990886.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:28:06.106Z,1628990886.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:28:08.195Z,1628990888.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:28:08.949Z,1628990888.949 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:28:09.345Z,1628990889.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:28:09.757Z,1628990889.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00920,187,80,80,49,FF
2021-08-15T01:28:09.758Z,1628990889.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:28:10.175Z,1628990890.175 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012810.26*50

2021-08-15T01:28:10.225Z,1628990890.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.660011 m, bearing: 313.297007 deg, deltaT: 15.369729 s, approachRate: 0.737815 m/s, LOS rate: 0.221540 deg/s, posRepo size: 4
2021-08-15T01:28:12.642Z,1628990892.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:28:12.986Z,1628990892.986 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:28:12.986Z,1628990892.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:28:12.986Z,1628990892.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:28:12.987Z,1628990892.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:28:13.389Z,1628990893.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00920,187,80,80,49,FF
2021-08-15T01:28:13.389Z,1628990893.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:28:13.389Z,1628990893.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:28:13.391Z,1628990893.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:28:13.789Z,1628990893.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:28:14.190Z,1628990894.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E18,000,00956,186,80,80,8A,FF
2021-08-15T01:28:14.190Z,1628990894.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:28:14.657Z,1628990894.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012814.66*50

2021-08-15T01:28:14.758Z,1628990894.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.900002 m, bearing: 315.556488 deg, deltaT: 4.349020 s, approachRate: 0.744993 m/s, LOS rate: 0.519538 deg/s, posRepo size: 4
2021-08-15T01:28:16.742Z,1628990896.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:28:17.017Z,1628990897.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:28:17.017Z,1628990897.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:28:17.017Z,1628990897.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:28:17.018Z,1628990897.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:28:17.417Z,1628990897.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E18,000,00956,186,80,80,8A,FF
2021-08-15T01:28:17.417Z,1628990897.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:28:17.418Z,1628990897.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:28:17.419Z,1628990897.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:28:17.837Z,1628990897.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:28:18.237Z,1628990898.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,00987,187,80,80,70,FF
2021-08-15T01:28:18.238Z,1628990898.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:28:18.681Z,1628990898.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012818.69*53

2021-08-15T01:28:18.778Z,1628990898.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.840004 m, bearing: 316.527468 deg, deltaT: 4.070521 s, approachRate: 0.722267 m/s, LOS rate: 0.238539 deg/s, posRepo size: 4
2021-08-15T01:28:21.086Z,1628990901.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:28:21.461Z,1628990901.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:28:21.461Z,1628990901.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:28:21.461Z,1628990901.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:28:21.462Z,1628990901.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:28:21.865Z,1628990901.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,00987,187,80,80,70,FF
2021-08-15T01:28:21.865Z,1628990901.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:28:21.866Z,1628990901.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:28:21.867Z,1628990901.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:28:22.285Z,1628990902.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:28:22.681Z,1628990902.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F5,000,009BB,189,80,80,7C,FF
2021-08-15T01:28:22.681Z,1628990902.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:28:23.120Z,1628990903.120 [Micromodem](INFO): Nmea in: $SNTTA,0.162212,,,,012823.14*4B

2021-08-15T01:28:23.141Z,1628990903.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.959999 m, bearing: 253.079273 deg, deltaT: 4.453292 s, approachRate: 0.700604 m/s, LOS rate: -14.247482 deg/s, posRepo size: 4
2021-08-15T01:28:25.519Z,1628990905.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:28:25.905Z,1628990905.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:28:25.905Z,1628990905.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:28:25.905Z,1628990905.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:28:25.906Z,1628990905.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:28:26.314Z,1628990906.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F5,000,009BB,189,80,80,7C,FF
2021-08-15T01:28:26.314Z,1628990906.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:28:26.314Z,1628990906.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:28:26.315Z,1628990906.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:28:26.724Z,1628990906.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:28:27.121Z,1628990907.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AD,000,009F8,189,80,80,7E,FF
2021-08-15T01:28:27.122Z,1628990907.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:28:27.556Z,1628990907.556 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012827.58*5D

2021-08-15T01:28:27.621Z,1628990907.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.620003 m, bearing: 256.759187 deg, deltaT: 4.408415 s, approachRate: 0.830231 m/s, LOS rate: 0.834748 deg/s, posRepo size: 4
2021-08-15T01:28:30.007Z,1628990910.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:28:30.349Z,1628990910.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:28:30.349Z,1628990910.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:28:30.349Z,1628990910.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:28:30.350Z,1628990910.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:28:30.761Z,1628990910.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AD,000,009F8,189,80,80,7E,FF
2021-08-15T01:28:30.761Z,1628990910.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:28:30.761Z,1628990910.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:28:30.763Z,1628990910.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:28:31.170Z,1628990911.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:28:31.585Z,1628990911.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A2,000,00A2E,189,80,80,86,FF
2021-08-15T01:28:31.587Z,1628990911.587 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:28:32.005Z,1628990912.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012832.03*57

2021-08-15T01:28:32.067Z,1628990912.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.860001 m, bearing: 257.849504 deg, deltaT: 4.501709 s, approachRate: 0.719726 m/s, LOS rate: 0.242201 deg/s, posRepo size: 4
2021-08-15T01:28:34.411Z,1628990914.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:28:34.808Z,1628990914.808 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:28:34.808Z,1628990914.808 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:28:34.808Z,1628990914.808 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:28:34.809Z,1628990914.809 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:28:35.202Z,1628990915.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A2,000,00A2E,189,80,80,86,FF
2021-08-15T01:28:35.202Z,1628990915.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:28:35.202Z,1628990915.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:28:35.205Z,1628990915.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:28:35.632Z,1628990915.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:28:36.009Z,1628990916.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,00A60,189,80,80,86,FF
2021-08-15T01:28:36.010Z,1628990916.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:28:36.013Z,1628990916.013 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T01:28:36.453Z,1628990916.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012836.48*5C

2021-08-15T01:28:36.479Z,1628990916.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.860001 m, bearing: 257.228585 deg, deltaT: 4.447820 s, approachRate: 0.674488 m/s, LOS rate: -0.139601 deg/s, posRepo size: 4
2021-08-15T01:28:38.877Z,1628990918.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:28:39.245Z,1628990919.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:28:39.245Z,1628990919.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:28:39.246Z,1628990919.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:28:39.247Z,1628990919.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:28:39.641Z,1628990919.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,00A60,189,80,80,86,FF
2021-08-15T01:28:39.641Z,1628990919.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:28:39.641Z,1628990919.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:28:39.643Z,1628990919.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:28:40.057Z,1628990920.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:28:40.465Z,1628990920.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29C,000,00A98,189,80,80,7D,FF
2021-08-15T01:28:40.466Z,1628990920.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:28:40.975Z,1628990920.975 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012840.92*5A

2021-08-15T01:28:41.002Z,1628990921.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.220001 m, bearing: 257.786174 deg, deltaT: 4.409640 s, approachRate: 0.761967 m/s, LOS rate: 0.126448 deg/s, posRepo size: 4
2021-08-15T01:28:43.295Z,1628990923.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:28:43.677Z,1628990923.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:28:43.677Z,1628990923.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:28:43.677Z,1628990923.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:28:43.678Z,1628990923.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:28:44.093Z,1628990924.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29C,000,00A98,189,80,80,7D,FF
2021-08-15T01:28:44.093Z,1628990924.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:28:44.093Z,1628990924.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:28:44.095Z,1628990924.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:28:44.508Z,1628990924.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:28:44.905Z,1628990924.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,00ACE,189,80,80,72,FF
2021-08-15T01:28:44.906Z,1628990924.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:28:45.338Z,1628990925.338 [Micromodem](INFO): Nmea in: $SNTTA,0.100297,,,,012845.36*42

2021-08-15T01:28:45.361Z,1628990925.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.459991 m, bearing: 256.442430 deg, deltaT: 4.453777 s, approachRate: 0.727470 m/s, LOS rate: -0.301709 deg/s, posRepo size: 4
2021-08-15T01:28:47.813Z,1628990927.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:28:48.125Z,1628990928.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:28:48.125Z,1628990928.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:28:48.125Z,1628990928.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:28:48.126Z,1628990928.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:28:48.577Z,1628990928.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,00ACE,189,80,80,72,FF
2021-08-15T01:28:48.577Z,1628990928.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:28:48.578Z,1628990928.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:28:48.588Z,1628990928.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:28:48.949Z,1628990928.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:28:49.337Z,1628990929.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C3,000,00ACE,189,80,80,72,FF
2021-08-15T01:28:49.338Z,1628990929.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:28:49.805Z,1628990929.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012849.86*56

2021-08-15T01:28:49.865Z,1628990929.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.459991 m, bearing: 255.753073 deg, deltaT: 4.437887 s, approachRate: 0.000000 m/s, LOS rate: -0.155335 deg/s, posRepo size: 4
2021-08-15T01:28:52.214Z,1628990932.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:28:52.588Z,1628990932.588 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:28:52.589Z,1628990932.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:28:52.590Z,1628990932.590 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:28:52.591Z,1628990932.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:28:52.616Z,1628990932.616 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C3,000,00ACE,189,80,80,72,FF
2021-08-15T01:28:52.616Z,1628990932.616 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:28:52.616Z,1628990932.616 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:28:52.618Z,1628990932.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:28:52.977Z,1628990932.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:28:53.377Z,1628990933.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C6,000,003B4,189,80,80,60,FF
2021-08-15T01:28:53.378Z,1628990933.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:28:53.821Z,1628990933.821 [Micromodem](INFO): Nmea in: $SNTTA,0.487745,0.487707,,,012853.89*54

2021-08-15T01:28:53.877Z,1628990933.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 255.768537 deg, deltaT: 4.000211 s, approachRate: -27.268560 m/s, LOS rate: 0.003866 deg/s, posRepo size: 4
2021-08-15T01:28:54.237Z,1628990934.237 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T01:28:54.237Z,1628990934.237 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:28:54.238Z,1628990934.238 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T01:28:54.238Z,1628990934.238 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T01:28:54.238Z,1628990934.238 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T01:28:54.238Z,1628990934.238 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T01:28:54.658Z,1628990934.658 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T01:28:54.659Z,1628990934.659 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:28:54.659Z,1628990934.659 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T01:28:54.659Z,1628990934.659 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:28:56.243Z,1628990936.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:28:56.633Z,1628990936.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:28:56.633Z,1628990936.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:28:56.633Z,1628990936.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:28:56.634Z,1628990936.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:28:57.033Z,1628990937.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C6,000,003B4,189,80,80,60,FF
2021-08-15T01:28:57.033Z,1628990937.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:28:57.034Z,1628990937.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:28:57.035Z,1628990937.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:28:57.424Z,1628990937.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:28:57.833Z,1628990937.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,351,000,00B6C,18A,80,80,3A,FF
2021-08-15T01:28:57.834Z,1628990937.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:28:57.920Z,1628990937.920 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:28:58.265Z,1628990938.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012858.30*5B

2021-08-15T01:28:58.300Z,1628990938.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.940002 m, bearing: 248.252760 deg, deltaT: 4.522889 s, approachRate: 26.213335 m/s, LOS rate: -1.661720 deg/s, posRepo size: 4
2021-08-15T01:28:58.675Z,1628990938.675 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T01:28:58.675Z,1628990938.675 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:28:58.675Z,1628990938.675 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T01:28:58.676Z,1628990938.676 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T01:28:58.676Z,1628990938.676 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T01:28:58.676Z,1628990938.676 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T01:28:59.073Z,1628990939.073 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T01:28:59.073Z,1628990939.073 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:28:59.074Z,1628990939.074 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T01:28:59.074Z,1628990939.074 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:29:00.691Z,1628990940.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:29:01.065Z,1628990941.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:29:01.066Z,1628990941.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:29:01.066Z,1628990941.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:29:01.067Z,1628990941.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:29:01.461Z,1628990941.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
351,000,00B6C,18A,80,80,3A,FF
2021-08-15T01:29:01.461Z,1628990941.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:29:01.461Z,1628990941.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:29:01.463Z,1628990941.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:29:01.873Z,1628990941.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:29:02.282Z,1628990942.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,299,000,00BA8,189,80,80,8A,FF
2021-08-15T01:29:02.282Z,1628990942.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:29:02.713Z,1628990942.713 [Micromodem](INFO): Nmea in: $SNTTA,0.099233,,,,012902.73*4E

2021-08-15T01:29:02.739Z,1628990942.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.540009 m, bearing: 257.784617 deg, deltaT: 4.381080 s, approachRate: 0.821717 m/s, LOS rate: 2.175687 deg/s, posRepo size: 4
2021-08-15T01:29:05.126Z,1628990945.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:29:05.497Z,1628990945.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:29:05.497Z,1628990945.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:29:05.497Z,1628990945.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:29:05.498Z,1628990945.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:29:05.909Z,1628990945.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
299,000,00BA8,189,80,80,8A,FF
2021-08-15T01:29:05.909Z,1628990945.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:29:05.909Z,1628990945.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:29:05.911Z,1628990945.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:29:06.325Z,1628990946.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:29:06.721Z,1628990946.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,00BDE,189,80,80,74,FF
2021-08-15T01:29:06.722Z,1628990946.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:29:07.154Z,1628990947.154 [Micromodem](INFO): Nmea in: $SNTTA,0.097855,,,,012907.18*42

2021-08-15T01:29:07.172Z,1628990947.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.779999 m, bearing: 257.363194 deg, deltaT: 4.473108 s, approachRate: 0.724326 m/s, LOS rate: -0.094212 deg/s, posRepo size: 4
2021-08-15T01:29:09.609Z,1628990949.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:29:09.946Z,1628990949.946 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:29:09.946Z,1628990949.946 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:29:09.947Z,1628990949.947 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:29:09.947Z,1628990949.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:29:10.349Z,1628990950.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,00BDE,189,80,80,74,FF
2021-08-15T01:29:10.349Z,1628990950.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:29:10.349Z,1628990950.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:29:10.351Z,1628990950.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:29:10.779Z,1628990950.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:29:11.161Z,1628990951.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,279,000,00C15,189,80,80,5F,FF
2021-08-15T01:29:11.162Z,1628990951.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:29:11.609Z,1628990951.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012911.62*50

2021-08-15T01:29:11.640Z,1628990951.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.080002 m, bearing: 259.135000 deg, deltaT: 4.452826 s, approachRate: 0.741103 m/s, LOS rate: 0.397906 deg/s, posRepo size: 4
2021-08-15T01:29:14.041Z,1628990954.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:29:14.398Z,1628990954.398 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:29:14.398Z,1628990954.398 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:29:14.398Z,1628990954.398 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:29:14.399Z,1628990954.399 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:29:14.797Z,1628990954.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
279,000,00C15,189,80,80,5F,FF
2021-08-15T01:29:14.797Z,1628990954.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:29:14.798Z,1628990954.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:29:14.799Z,1628990954.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:29:15.199Z,1628990955.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:29:15.645Z,1628990955.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,296,000,00C4A,189,80,80,7B,FF
2021-08-15T01:29:15.646Z,1628990955.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:29:16.037Z,1628990956.037 [Micromodem](INFO): Nmea in: $SNTTA,,0.396167,,,012916.07*46

2021-08-15T01:29:16.101Z,1628990956.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.259995 m, bearing: 258.360129 deg, deltaT: 4.546856 s, approachRate: 0.699383 m/s, LOS rate: -0.170419 deg/s, posRepo size: 4
2021-08-15T01:29:18.462Z,1628990958.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:29:18.849Z,1628990958.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:29:18.849Z,1628990958.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:29:18.850Z,1628990958.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:29:18.850Z,1628990958.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:29:19.245Z,1628990959.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
296,000,00C4A,189,80,80,7B,FF
2021-08-15T01:29:19.245Z,1628990959.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:29:19.245Z,1628990959.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:29:19.247Z,1628990959.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:29:19.664Z,1628990959.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:29:20.478Z,1628990960.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012920.52*51

2021-08-15T01:29:21.311Z,1628990961.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:29:22.883Z,1628990962.883 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,189,80,80,7B,FF
2021-08-15T01:29:22.883Z,1628990962.883 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,189,80,80,7B,FF
2021-08-15T01:29:22.884Z,1628990962.884 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:29:24.139Z,1628990964.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:29:24.499Z,1628990964.499 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:29:24.499Z,1628990964.499 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:29:24.500Z,1628990964.500 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:29:24.501Z,1628990964.501 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:29:24.893Z,1628990964.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,189,80,80,7B,FF
2021-08-15T01:29:24.893Z,1628990964.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:29:24.894Z,1628990964.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:29:24.895Z,1628990964.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:29:25.307Z,1628990965.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:29:25.733Z,1628990965.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,00CCF,18A,80,80,8F,FF
2021-08-15T01:29:25.734Z,1628990965.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:29:26.150Z,1628990966.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012926.16*57

2021-08-15T01:29:26.187Z,1628990966.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.240005 m, bearing: 260.574422 deg, deltaT: 10.053477 s, approachRate: 0.793756 m/s, LOS rate: 0.220251 deg/s, posRepo size: 4
2021-08-15T01:29:28.627Z,1628990968.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:29:28.939Z,1628990968.939 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:29:28.939Z,1628990968.939 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:29:28.939Z,1628990968.939 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:29:28.940Z,1628990968.940 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:29:29.353Z,1628990969.353 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,00CCF,18A,80,80,8F,FF
2021-08-15T01:29:29.353Z,1628990969.353 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:29:29.353Z,1628990969.353 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:29:29.356Z,1628990969.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:29:29.789Z,1628990969.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:29:30.160Z,1628990970.160 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24F,000,00D0F,18A,80,80,8F,FF
2021-08-15T01:29:30.160Z,1628990970.160 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:29:30.601Z,1628990970.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012930.62*53

2021-08-15T01:29:30.640Z,1628990970.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.080002 m, bearing: 262.047038 deg, deltaT: 4.393304 s, approachRate: 0.874057 m/s, LOS rate: 0.335196 deg/s, posRepo size: 4
2021-08-15T01:29:32.995Z,1628990972.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:29:33.377Z,1628990973.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:29:33.377Z,1628990973.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:29:33.377Z,1628990973.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:29:33.378Z,1628990973.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:29:33.805Z,1628990973.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24F,000,00D0F,18A,80,80,8F,FF
2021-08-15T01:29:33.805Z,1628990973.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:29:33.805Z,1628990973.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:29:33.807Z,1628990973.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:29:34.195Z,1628990974.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:29:34.614Z,1628990974.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28E,000,00D0F,18A,80,80,8F,FF
2021-08-15T01:29:34.614Z,1628990974.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:29:35.030Z,1628990975.030 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012935.08*5A

2021-08-15T01:29:35.088Z,1628990975.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.080002 m, bearing: 259.303323 deg, deltaT: 4.451845 s, approachRate: 0.000000 m/s, LOS rate: -0.616309 deg/s, posRepo size: 4
2021-08-15T01:29:37.435Z,1628990977.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:29:37.825Z,1628990977.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:29:37.826Z,1628990977.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:29:37.826Z,1628990977.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:29:37.827Z,1628990977.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:29:38.237Z,1628990978.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28E,000,00D0F,18A,80,80,8F,FF
2021-08-15T01:29:38.238Z,1628990978.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:29:38.238Z,1628990978.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:29:38.239Z,1628990978.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:29:38.640Z,1628990978.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:29:39.458Z,1628990979.458 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012939.51*5A

2021-08-15T01:29:40.267Z,1628990980.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:29:41.861Z,1628990981.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,18A,80,80,8F,FF
2021-08-15T01:29:41.861Z,1628990981.861 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,18A,80,80,8F,FF
2021-08-15T01:29:41.861Z,1628990981.861 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:29:43.111Z,1628990983.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:29:43.482Z,1628990983.482 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:29:43.482Z,1628990983.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:29:43.482Z,1628990983.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:29:43.483Z,1628990983.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:29:43.893Z,1628990983.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,18A,80,80,8F,FF
2021-08-15T01:29:43.893Z,1628990983.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:29:43.893Z,1628990983.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:29:43.895Z,1628990983.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:29:44.289Z,1628990984.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:29:45.113Z,1628990985.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,293,000,00DB4,189,80,80,7E,FF
2021-08-15T01:29:45.114Z,1628990985.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:29:45.117Z,1628990985.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012945.16*52

2021-08-15T01:29:45.543Z,1628990985.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.980011 m, bearing: 259.436048 deg, deltaT: 10.461982 s, approachRate: 0.946284 m/s, LOS rate: 0.012686 deg/s, posRepo size: 4
2021-08-15T01:29:48.003Z,1628990988.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:29:48.325Z,1628990988.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:29:48.325Z,1628990988.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:29:48.325Z,1628990988.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:29:48.326Z,1628990988.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:29:48.737Z,1628990988.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
293,000,00DB4,189,80,80,7E,FF
2021-08-15T01:29:48.737Z,1628990988.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:29:48.737Z,1628990988.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:29:48.739Z,1628990988.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:29:48.759Z,1628990988.759 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:29:49.145Z,1628990989.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:29:49.547Z,1628990989.547 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F3,000,00DB4,189,80,80,7E,FF
2021-08-15T01:29:49.547Z,1628990989.547 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:29:49.989Z,1628990989.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012950.01*50

2021-08-15T01:29:50.073Z,1628990990.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.980011 m, bearing: 267.598588 deg, deltaT: 4.486496 s, approachRate: 0.000000 m/s, LOS rate: 1.819357 deg/s, posRepo size: 4
2021-08-15T01:29:52.407Z,1628990992.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:29:52.771Z,1628990992.771 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:29:52.771Z,1628990992.771 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:29:52.771Z,1628990992.771 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:29:52.772Z,1628990992.772 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:29:53.189Z,1628990993.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F3,000,00DB4,189,80,80,7E,FF
2021-08-15T01:29:53.189Z,1628990993.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:29:53.190Z,1628990993.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:29:53.197Z,1628990993.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:29:53.644Z,1628990993.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:29:53.661Z,1628990993.661 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:29:54.401Z,1628990994.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,201,000,00E31,187,80,80,74,FF
2021-08-15T01:29:54.401Z,1628990994.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:29:54.404Z,1628990994.404 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012954.47*56

2021-08-15T01:29:54.828Z,1628990994.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.479996 m, bearing: 267.510042 deg, deltaT: 4.801555 s, approachRate: 1.561991 m/s, LOS rate: -0.018441 deg/s, posRepo size: 4
2021-08-15T01:29:57.239Z,1628990997.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:29:57.641Z,1628990997.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:29:57.641Z,1628990997.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:29:57.641Z,1628990997.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:29:57.642Z,1628990997.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:29:58.021Z,1628990998.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
201,000,00E31,187,80,80,74,FF
2021-08-15T01:29:58.021Z,1628990998.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:29:58.021Z,1628990998.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:29:58.023Z,1628990998.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:29:58.429Z,1628990998.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:29:58.841Z,1628990998.841 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:29:59.261Z,1628990999.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,222,000,00E6D,188,80,80,7E,FF
2021-08-15T01:29:59.261Z,1628990999.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:29:59.264Z,1628990999.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012959.29*53

2021-08-15T01:29:59.757Z,1628990999.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.079987 m, bearing: 265.645810 deg, deltaT: 4.883769 s, approachRate: 0.737134 m/s, LOS rate: -0.381720 deg/s, posRepo size: 4
2021-08-15T01:30:02.128Z,1628991002.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:30:02.465Z,1628991002.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:30:02.465Z,1628991002.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:30:02.465Z,1628991002.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:30:02.466Z,1628991002.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:30:02.869Z,1628991002.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
222,000,00E6D,188,80,80,7E,FF
2021-08-15T01:30:02.869Z,1628991002.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:30:02.869Z,1628991002.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:30:02.871Z,1628991002.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:30:03.277Z,1628991003.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:30:03.705Z,1628991003.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,231,000,00E6D,188,80,80,7E,FF
2021-08-15T01:30:03.706Z,1628991003.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:30:03.819Z,1628991003.819 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for BIT error
2021-08-15T01:30:04.105Z,1628991004.105 [Micromodem](INFO): Nmea in: $SNTTA,0.360700,0.360756,,,013004.14*5E

2021-08-15T01:30:04.135Z,1628991004.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.079987 m, bearing: 264.496262 deg, deltaT: 4.529462 s, approachRate: 0.000000 m/s, LOS rate: -0.253794 deg/s, posRepo size: 4
2021-08-15T01:30:06.561Z,1628991006.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:30:06.913Z,1628991006.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:30:06.913Z,1628991006.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:30:06.913Z,1628991006.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:30:06.914Z,1628991006.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:30:07.313Z,1628991007.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
231,000,00E6D,188,80,80,7E,FF
2021-08-15T01:30:07.313Z,1628991007.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:30:07.313Z,1628991007.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:30:07.315Z,1628991007.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:30:07.755Z,1628991007.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:30:08.121Z,1628991008.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,00696,189,80,80,78,FF
2021-08-15T01:30:08.122Z,1628991008.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:30:08.621Z,1628991008.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013008.59*58

2021-08-15T01:30:08.628Z,1628991008.628 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:30:08.648Z,1628991008.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.660007 m, bearing: 265.296131 deg, deltaT: 4.374875 s, approachRate: -27.525354 m/s, LOS rate: 0.182833 deg/s, posRepo size: 4
2021-08-15T01:30:09.062Z,1628991009.062 [CTD_Seabird](ERROR): Failed to parse device response: 9,4.80451,4906.71
2021-08-15T01:30:10.992Z,1628991010.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:30:11.353Z,1628991011.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:30:11.354Z,1628991011.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:30:11.354Z,1628991011.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:30:11.355Z,1628991011.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:30:11.785Z,1628991011.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,00696,189,80,80,78,FF
2021-08-15T01:30:11.785Z,1628991011.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:30:11.785Z,1628991011.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:30:11.787Z,1628991011.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:30:12.179Z,1628991012.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:30:12.983Z,1628991012.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,270,000,00F13,189,80,80,68,FF
2021-08-15T01:30:12.985Z,1628991012.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:30:12.993Z,1628991012.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013013.06*58

2021-08-15T01:30:13.412Z,1628991013.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.039978 m, bearing: 261.059064 deg, deltaT: 4.831571 s, approachRate: 26.985006 m/s, LOS rate: -0.876954 deg/s, posRepo size: 4
2021-08-15T01:30:15.863Z,1628991015.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:30:16.208Z,1628991016.208 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:30:16.208Z,1628991016.208 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:30:16.208Z,1628991016.208 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:30:16.209Z,1628991016.209 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:30:16.634Z,1628991016.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
270,000,00F13,189,80,80,68,FF
2021-08-15T01:30:16.634Z,1628991016.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:30:16.634Z,1628991016.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:30:16.636Z,1628991016.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:30:17.021Z,1628991017.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:30:17.838Z,1628991017.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,00F50,189,80,80,5D,FF
2021-08-15T01:30:17.839Z,1628991017.839 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:30:17.842Z,1628991017.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013017.90*53

2021-08-15T01:30:18.274Z,1628991018.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.699997 m, bearing: 264.808784 deg, deltaT: 4.871500 s, approachRate: 0.751312 m/s, LOS rate: 0.769726 deg/s, posRepo size: 4
2021-08-15T01:30:18.682Z,1628991018.682 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T01:30:20.683Z,1628991020.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:30:21.049Z,1628991021.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:30:21.049Z,1628991021.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:30:21.049Z,1628991021.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:30:21.050Z,1628991021.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:30:21.461Z,1628991021.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,00F50,189,80,80,5D,FF
2021-08-15T01:30:21.461Z,1628991021.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:30:21.461Z,1628991021.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:30:21.463Z,1628991021.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:30:21.877Z,1628991021.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:30:22.693Z,1628991022.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20F,000,00F86,187,80,80,61,FF
2021-08-15T01:30:22.693Z,1628991022.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:30:22.697Z,1628991022.697 [Micromodem](INFO): Nmea in: $SNTTA,0.144190,,,,013022.73*4F

2021-08-15T01:30:23.108Z,1628991023.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.939987 m, bearing: 266.139988 deg, deltaT: 4.840202 s, approachRate: 0.669392 m/s, LOS rate: 0.275031 deg/s, posRepo size: 4
2021-08-15T01:30:25.510Z,1628991025.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:30:25.901Z,1628991025.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:30:25.901Z,1628991025.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:30:25.901Z,1628991025.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:30:25.902Z,1628991025.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:30:26.301Z,1628991026.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20F,000,00F86,187,80,80,61,FF
2021-08-15T01:30:26.301Z,1628991026.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:30:26.301Z,1628991026.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:30:26.303Z,1628991026.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:30:26.717Z,1628991026.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:30:27.545Z,1628991027.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,214,000,00FC2,187,80,80,88,FF
2021-08-15T01:30:27.545Z,1628991027.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:30:27.550Z,1628991027.550 [Micromodem](INFO): Nmea in: $SNTTA,0.138196,,,,013027.58*4E

2021-08-15T01:30:27.988Z,1628991027.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.539978 m, bearing: 265.573055 deg, deltaT: 4.876545 s, approachRate: 0.738226 m/s, LOS rate: -0.116257 deg/s, posRepo size: 4
2021-08-15T01:30:30.395Z,1628991030.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:30:30.757Z,1628991030.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:30:30.757Z,1628991030.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:30:30.757Z,1628991030.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:30:30.758Z,1628991030.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:30:31.155Z,1628991031.155 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
214,000,00FC2,187,80,80,88,FF
2021-08-15T01:30:31.155Z,1628991031.155 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:30:31.155Z,1628991031.155 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:30:31.157Z,1628991031.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:30:31.598Z,1628991031.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:30:32.369Z,1628991032.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D9,000,01003,186,80,80,64,FF
2021-08-15T01:30:32.369Z,1628991032.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:30:32.809Z,1628991032.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.439987 m, bearing: 268.980335 deg, deltaT: 4.758288 s, approachRate: 0.819624 m/s, LOS rate: 0.716073 deg/s, posRepo size: 4
2021-08-15T01:30:33.629Z,1628991033.629 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T01:30:35.243Z,1628991035.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:30:35.625Z,1628991035.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:30:35.625Z,1628991035.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:30:35.625Z,1628991035.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:30:35.626Z,1628991035.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:30:36.009Z,1628991036.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D9,000,01003,186,80,80,64,FF
2021-08-15T01:30:36.009Z,1628991036.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:30:36.009Z,1628991036.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:30:36.011Z,1628991036.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:30:36.404Z,1628991036.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:30:37.241Z,1628991037.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20F,000,0103E,188,80,80,44,FF
2021-08-15T01:30:37.241Z,1628991037.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:30:37.244Z,1628991037.244 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013037.28*52

2021-08-15T01:30:37.717Z,1628991037.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.979980 m, bearing: 266.106083 deg, deltaT: 4.909826 s, approachRate: 0.721002 m/s, LOS rate: -0.585408 deg/s, posRepo size: 4
2021-08-15T01:30:38.844Z,1628991038.844 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T01:30:40.102Z,1628991040.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:30:40.445Z,1628991040.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:30:40.445Z,1628991040.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:30:40.446Z,1628991040.446 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:30:40.447Z,1628991040.447 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:30:40.857Z,1628991040.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20F,000,0103E,188,80,80,44,FF
2021-08-15T01:30:40.857Z,1628991040.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:30:40.858Z,1628991040.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:30:40.859Z,1628991040.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:30:41.269Z,1628991041.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:30:42.077Z,1628991042.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,249,000,0107A,189,80,80,50,FF
2021-08-15T01:30:42.077Z,1628991042.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:30:42.081Z,1628991042.081 [Micromodem](INFO): Nmea in: $SNTTA,,0.144761,,,013042.13*47

2021-08-15T01:30:42.518Z,1628991042.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.580002 m, bearing: 262.995997 deg, deltaT: 4.877057 s, approachRate: 0.738154 m/s, LOS rate: -0.637697 deg/s, posRepo size: 4
2021-08-15T01:30:43.739Z,1628991043.739 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T01:30:44.937Z,1628991044.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:30:45.293Z,1628991045.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:30:45.293Z,1628991045.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:30:45.293Z,1628991045.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:30:45.294Z,1628991045.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:30:45.717Z,1628991045.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
249,000,0107A,189,80,80,50,FF
2021-08-15T01:30:45.718Z,1628991045.718 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:30:45.719Z,1628991045.719 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:30:45.733Z,1628991045.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:30:46.100Z,1628991046.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:30:46.911Z,1628991046.911 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21E,000,010B8,187,80,80,6A,FF
2021-08-15T01:30:46.912Z,1628991046.912 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:30:46.927Z,1628991046.927 [Micromodem](INFO): Nmea in: $SNTTA,0.148492,,,,013047.00*43

2021-08-15T01:30:47.364Z,1628991047.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.300003 m, bearing: 265.383148 deg, deltaT: 4.827678 s, approachRate: 0.770557 m/s, LOS rate: 0.494472 deg/s, posRepo size: 4
2021-08-15T01:30:49.857Z,1628991049.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:30:50.143Z,1628991050.143 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:30:50.143Z,1628991050.143 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:30:50.143Z,1628991050.143 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:30:50.144Z,1628991050.144 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:30:50.561Z,1628991050.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21E,000,010B8,187,80,80,6A,FF
2021-08-15T01:30:50.562Z,1628991050.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:30:50.563Z,1628991050.563 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:30:50.579Z,1628991050.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:30:50.949Z,1628991050.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:30:51.801Z,1628991051.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,01107,186,80,80,2F,FF
2021-08-15T01:30:51.801Z,1628991051.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:30:51.804Z,1628991051.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013051.85*55

2021-08-15T01:30:52.212Z,1628991052.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.040009 m, bearing: 276.952587 deg, deltaT: 4.911582 s, approachRate: 0.965067 m/s, LOS rate: 2.355542 deg/s, posRepo size: 4
2021-08-15T01:30:54.666Z,1628991054.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:30:54.985Z,1628991054.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:30:54.985Z,1628991054.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:30:54.985Z,1628991054.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:30:54.986Z,1628991054.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:30:55.398Z,1628991055.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12E,000,01107,186,80,80,2F,FF
2021-08-15T01:30:55.398Z,1628991055.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:30:55.398Z,1628991055.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:30:55.402Z,1628991055.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:30:55.800Z,1628991055.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:30:56.646Z,1628991056.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013056.67*5E

2021-08-15T01:30:57.442Z,1628991057.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:30:58.225Z,1628991058.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,213,000,068EE,187,80,80,3A,FF
2021-08-15T01:30:58.225Z,1628991058.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:30:58.729Z,1628991058.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1574.220093 m, bearing: 265.972293 deg, deltaT: 6.329747 s, approachRate: 213.307114 m/s, LOS rate: -1.734713 deg/s, posRepo size: 4
2021-08-15T01:31:01.196Z,1628991061.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:31:01.453Z,1628991061.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:31:01.453Z,1628991061.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:31:01.453Z,1628991061.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:31:01.454Z,1628991061.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:31:01.853Z,1628991061.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
213,000,068EE,187,80,80,3A,FF
2021-08-15T01:31:01.853Z,1628991061.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:31:01.853Z,1628991061.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:31:01.855Z,1628991061.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:31:02.282Z,1628991062.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:31:03.093Z,1628991063.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,01196,187,80,80,3C,FF
2021-08-15T01:31:03.094Z,1628991063.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:31:03.121Z,1628991063.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013103.13*5C

2021-08-15T01:31:03.533Z,1628991063.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.619980 m, bearing: 288.029952 deg, deltaT: 4.915604 s, approachRate: -272.926819 m/s, LOS rate: 4.487273 deg/s, posRepo size: 4
2021-08-15T01:31:05.968Z,1628991065.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:31:06.317Z,1628991066.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:31:06.317Z,1628991066.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:31:06.317Z,1628991066.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:31:06.318Z,1628991066.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:31:06.721Z,1628991066.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,01196,187,80,80,3C,FF
2021-08-15T01:31:06.721Z,1628991066.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:31:06.722Z,1628991066.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:31:06.723Z,1628991066.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:31:07.124Z,1628991067.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:31:07.935Z,1628991067.935 [Micromodem](INFO): Nmea in: $SNTTA,0.435432,0.435488,,,013107.99*5B

2021-08-15T01:31:08.781Z,1628991068.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:31:10.354Z,1628991070.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,095A9,185,80,80,58,FF
2021-08-15T01:31:10.354Z,1628991070.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:31:10.807Z,1628991070.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2261.280029 m, bearing: 290.526823 deg, deltaT: 7.257568 s, approachRate: 279.523407 m/s, LOS rate: 0.344037 deg/s, posRepo size: 4
2021-08-15T01:31:10.807Z,1628991070.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2261.28 m. Resuming terminal guidance.
2021-08-15T01:31:10.807Z,1628991070.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T01:31:13.221Z,1628991073.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:31:13.590Z,1628991073.590 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:31:13.590Z,1628991073.590 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:31:13.590Z,1628991073.590 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:31:13.591Z,1628991073.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:31:13.981Z,1628991073.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,095A9,185,80,80,58,FF
2021-08-15T01:31:13.982Z,1628991073.982 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:31:13.982Z,1628991073.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:31:13.983Z,1628991073.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:31:14.400Z,1628991074.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:31:15.217Z,1628991075.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EA,000,01214,186,80,80,38,FF
2021-08-15T01:31:15.217Z,1628991075.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:31:15.220Z,1628991075.220 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013115.25*5E

2021-08-15T01:31:15.713Z,1628991075.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.179993 m, bearing: 268.877883 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T01:31:15.724Z,1628991075.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 268.877883deg and heading rate command to 0 deg/s.
2021-08-15T01:31:18.121Z,1628991078.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:31:18.437Z,1628991078.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:31:18.437Z,1628991078.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:31:18.437Z,1628991078.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:31:18.438Z,1628991078.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:31:18.837Z,1628991078.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EA,000,01214,186,80,80,38,FF
2021-08-15T01:31:18.838Z,1628991078.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:31:18.838Z,1628991078.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:31:18.839Z,1628991078.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:31:19.244Z,1628991079.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:31:20.071Z,1628991080.071 [Micromodem](INFO): Nmea in: $SNTTA,,0.335019,,,013120.11*4C

2021-08-15T01:31:20.898Z,1628991080.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:31:22.477Z,1628991082.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,38,FF
2021-08-15T01:31:22.478Z,1628991082.478 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,38,FF
2021-08-15T01:31:22.478Z,1628991082.478 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:31:23.771Z,1628991083.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:31:24.100Z,1628991084.100 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:31:24.100Z,1628991084.100 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:31:24.100Z,1628991084.100 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:31:24.101Z,1628991084.101 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:31:24.489Z,1628991084.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,38,FF
2021-08-15T01:31:24.489Z,1628991084.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:31:24.489Z,1628991084.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:31:24.491Z,1628991084.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:31:24.897Z,1628991084.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:31:25.753Z,1628991085.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EA,000,012A4,189,80,80,2D,FF
2021-08-15T01:31:25.753Z,1628991085.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:31:25.756Z,1628991085.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013125.76*5B

2021-08-15T01:31:26.135Z,1628991086.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.819992 m, bearing: 231.403148 deg, deltaT: 10.592078 s, approachRate: 0.815704 m/s, LOS rate: -3.537996 deg/s, posRepo size: 2
2021-08-15T01:31:26.138Z,1628991086.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.819992 m,
      bearing: 231.403148 deg,
      approachRate: 0.815704 m/s,
      LOS rate: -3.537996 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 268.877883 deg,
      new cmd heading: 268.877883 deg.

2021-08-15T01:31:28.592Z,1628991088.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:31:28.933Z,1628991088.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:31:28.933Z,1628991088.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:31:28.933Z,1628991088.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:31:28.934Z,1628991088.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:31:29.341Z,1628991089.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EA,000,012A4,189,80,80,2D,FF
2021-08-15T01:31:29.341Z,1628991089.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:31:29.341Z,1628991089.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:31:29.343Z,1628991089.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:31:29.788Z,1628991089.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:31:30.585Z,1628991090.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,399,000,012C0,189,80,80,4B,FF
2021-08-15T01:31:30.586Z,1628991090.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:31:30.593Z,1628991090.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013130.61*59

2021-08-15T01:31:30.989Z,1628991090.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 250.500000 m, bearing: 213.681635 deg, deltaT: 4.835186 s, approachRate: 0.347455 m/s, LOS rate: -3.665115 deg/s, posRepo size: 3
2021-08-15T01:31:30.990Z,1628991090.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 250.500000 m,
      bearing: 213.681635 deg,
      approachRate: 0.347455 m/s,
      LOS rate: -3.665115 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 210.848748 deg,
      new cmd heading: 206.896116 deg.

2021-08-15T01:31:33.401Z,1628991093.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:31:33.793Z,1628991093.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:31:33.793Z,1628991093.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:31:33.793Z,1628991093.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:31:33.794Z,1628991093.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:31:34.186Z,1628991094.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
399,000,012C0,189,80,80,4B,FF
2021-08-15T01:31:34.186Z,1628991094.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:31:34.186Z,1628991094.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:31:34.189Z,1628991094.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:31:34.634Z,1628991094.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:31:35.421Z,1628991095.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,293,000,012F2,189,80,80,88,FF
2021-08-15T01:31:35.421Z,1628991095.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:31:35.425Z,1628991095.425 [Micromodem](INFO): Nmea in: $SNTTA,0.174753,,,,013135.46*44

2021-08-15T01:31:35.867Z,1628991095.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 253.500000 m, bearing: 207.929373 deg, deltaT: 4.782675 s, approachRate: 0.627264 m/s, LOS rate: -1.202729 deg/s, posRepo size: 4
2021-08-15T01:31:35.870Z,1628991095.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.500000 m,
      bearing: 207.929373 deg,
      approachRate: 0.627264 m/s,
      LOS rate: -1.202729 deg/s,
      cmd update: -4.810916 deg/s,
      cmd heading: 153.472835 deg,
      new cmd heading: 148.346831 deg.

2021-08-15T01:31:38.265Z,1628991098.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:31:38.651Z,1628991098.651 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:31:38.666Z,1628991098.666 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:31:38.668Z,1628991098.668 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:31:38.670Z,1628991098.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:31:39.043Z,1628991099.043 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
293,000,012F2,189,80,80,88,FF
2021-08-15T01:31:39.043Z,1628991099.043 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:31:39.043Z,1628991099.043 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:31:39.045Z,1628991099.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:31:39.445Z,1628991099.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:31:39.855Z,1628991099.855 [Micromodem](INFO): Nmea in: $SNTTA,0.272782,0.272038,,,013140.31*5D

2021-08-15T01:31:40.249Z,1628991100.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CA,000,01311,189,80,80,85,FF
2021-08-15T01:31:40.250Z,1628991100.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:31:40.693Z,1628991100.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.360001 m, bearing: 172.749841 deg, deltaT: 4.821699 s, approachRate: 0.385756 m/s, LOS rate: -7.296086 deg/s, posRepo size: 4
2021-08-15T01:31:40.695Z,1628991100.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.360001 m,
      bearing: 172.749841 deg,
      approachRate: 0.385756 m/s,
      LOS rate: -7.296086 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 130.249902 deg,
      new cmd heading: 128.204045 deg.

2021-08-15T01:31:43.119Z,1628991103.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:31:43.481Z,1628991103.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:31:43.481Z,1628991103.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:31:43.481Z,1628991103.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:31:43.482Z,1628991103.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:31:43.893Z,1628991103.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CA,000,01311,189,80,80,85,FF
2021-08-15T01:31:43.893Z,1628991103.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:31:43.893Z,1628991103.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:31:43.895Z,1628991103.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:31:44.293Z,1628991104.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:31:45.105Z,1628991105.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CF,000,01323,189,80,80,71,FF
2021-08-15T01:31:45.106Z,1628991105.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:31:45.108Z,1628991105.108 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013145.17*5A

2021-08-15T01:31:45.541Z,1628991105.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.440002 m, bearing: 150.803200 deg, deltaT: 4.857076 s, approachRate: 0.222356 m/s, LOS rate: -4.518488 deg/s, posRepo size: 4
2021-08-15T01:31:45.543Z,1628991105.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.440002 m,
      bearing: 150.803200 deg,
      approachRate: 0.222356 m/s,
      LOS rate: -4.518488 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 71.965084 deg,
      new cmd heading: 66.969880 deg.

2021-08-15T01:31:47.986Z,1628991107.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:31:48.329Z,1628991108.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:31:48.329Z,1628991108.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:31:48.329Z,1628991108.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:31:48.330Z,1628991108.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:31:48.733Z,1628991108.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CF,000,01323,189,80,80,71,FF
2021-08-15T01:31:48.734Z,1628991108.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:31:48.734Z,1628991108.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:31:48.736Z,1628991108.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:31:49.137Z,1628991109.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:31:49.961Z,1628991109.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0132C,18A,80,80,3A,FF
2021-08-15T01:31:49.961Z,1628991109.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:31:49.964Z,1628991109.964 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013150.01*59

2021-08-15T01:31:50.388Z,1628991110.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.979980 m, bearing: 115.642657 deg, deltaT: 4.934060 s, approachRate: 0.109439 m/s, LOS rate: -7.126087 deg/s, posRepo size: 4
2021-08-15T01:31:50.390Z,1628991110.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.979980 m,
      bearing: 115.642657 deg,
      approachRate: 0.109439 m/s,
      LOS rate: -7.126087 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 12.807088 deg,
      new cmd heading: 8.806839 deg.

2021-08-15T01:31:52.813Z,1628991112.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:31:53.177Z,1628991113.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:31:53.178Z,1628991113.178 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:31:53.178Z,1628991113.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:31:53.179Z,1628991113.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:31:53.601Z,1628991113.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0132C,18A,80,80,3A,FF
2021-08-15T01:31:53.601Z,1628991113.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:31:53.601Z,1628991113.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:31:53.603Z,1628991113.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:31:53.985Z,1628991113.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:31:54.791Z,1628991114.791 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01309,189,80,80,73,FF
2021-08-15T01:31:54.793Z,1628991114.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:31:54.800Z,1628991114.800 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013154.88*5C

2021-08-15T01:31:55.242Z,1628991115.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.879990 m, bearing: 96.257234 deg, deltaT: 4.806976 s, approachRate: -0.436863 m/s, LOS rate: -4.032769 deg/s, posRepo size: 4
2021-08-15T01:31:55.245Z,1628991115.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.879990 m,
      bearing: 96.257234 deg,
      approachRate: -0.436863 m/s,
      LOS rate: -4.032769 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 315.167810 deg,
      new cmd heading: 310.550054 deg.

2021-08-15T01:31:57.737Z,1628991117.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:31:58.029Z,1628991118.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:31:58.029Z,1628991118.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:31:58.029Z,1628991118.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:31:58.030Z,1628991118.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:31:58.437Z,1628991118.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01309,189,80,80,73,FF
2021-08-15T01:31:58.437Z,1628991118.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:31:58.437Z,1628991118.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:31:58.439Z,1628991118.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:31:58.848Z,1628991118.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:31:59.697Z,1628991119.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,012E9,189,80,80,62,FF
2021-08-15T01:31:59.698Z,1628991119.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:31:59.709Z,1628991119.709 [Micromodem](INFO): Nmea in: $SNTTA,0.171100,,,,013159.71*4F

2021-08-15T01:32:00.094Z,1628991120.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.959976 m, bearing: 93.578830 deg, deltaT: 4.982243 s, approachRate: -0.385371 m/s, LOS rate: -0.537590 deg/s, posRepo size: 4
2021-08-15T01:32:00.096Z,1628991120.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.959976 m,
      bearing: 93.578830 deg,
      approachRate: -0.385371 m/s,
      LOS rate: -0.537590 deg/s,
      cmd update: -2.150360 deg/s,
      cmd heading: 255.333792 deg,
      new cmd heading: 252.333180 deg.

2021-08-15T01:32:02.502Z,1628991122.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:32:02.889Z,1628991122.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:32:02.889Z,1628991122.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:32:02.889Z,1628991122.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:32:02.890Z,1628991122.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:32:03.286Z,1628991123.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,012E9,189,80,80,62,FF
2021-08-15T01:32:03.286Z,1628991123.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:32:03.287Z,1628991123.287 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:32:03.288Z,1628991123.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:32:03.797Z,1628991123.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:32:03.842Z,1628991123.842 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T01:32:04.090Z,1628991124.090 [Micromodem](INFO): Nmea in: 13204,COPROC,0.20.0.39330*7F

2021-08-15T01:32:04.091Z,1628991124.091 [Micromodem](ERROR): Response from modem failed NMEA checksum: 13204,COPROC,0.20.0.39330*7F
 expected 0
2021-08-15T01:32:04.501Z,1628991124.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6E,000,012D8,189,80,80,54,FF
2021-08-15T01:32:04.502Z,1628991124.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:32:04.939Z,1628991124.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.939987 m, bearing: 211.002657 deg, deltaT: 4.672126 s, approachRate: -0.218314 m/s, LOS rate: 25.132846 deg/s, posRepo size: 4
2021-08-15T01:32:04.940Z,1628991124.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 25.132846 deg/s. Setting heading cmd to target bearing of 211.002657deg and heading rate command to 0 deg/s.
2021-08-15T01:32:07.359Z,1628991127.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:32:07.773Z,1628991127.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:32:07.773Z,1628991127.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:32:07.773Z,1628991127.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:32:07.774Z,1628991127.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:32:08.129Z,1628991128.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6E,000,012D8,189,80,80,54,FF
2021-08-15T01:32:08.129Z,1628991128.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:32:08.129Z,1628991128.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:32:08.131Z,1628991128.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:32:08.577Z,1628991128.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:32:09.374Z,1628991129.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013209.40*53

2021-08-15T01:32:09.786Z,1628991129.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,032F3,189,80,80,7C,FF
2021-08-15T01:32:09.786Z,1628991129.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:32:10.206Z,1628991130.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 745.079956 m, bearing: 136.300660 deg, deltaT: 5.356352 s, approachRate: 92.066383 m/s, LOS rate: -13.946432 deg/s, posRepo size: 4
2021-08-15T01:32:10.206Z,1628991130.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.946432 deg/s. Setting heading cmd to target bearing of 136.300660deg and heading rate command to 0 deg/s.
2021-08-15T01:32:12.653Z,1628991132.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:32:12.977Z,1628991132.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:32:12.977Z,1628991132.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:32:12.977Z,1628991132.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:32:12.978Z,1628991132.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:32:13.402Z,1628991133.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,032F3,189,80,80,7C,FF
2021-08-15T01:32:13.402Z,1628991133.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:32:13.403Z,1628991133.403 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:32:13.405Z,1628991133.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:32:13.807Z,1628991133.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:32:13.828Z,1628991133.828 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T01:32:15.426Z,1628991135.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:32:17.029Z,1628991137.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,7C,FF
2021-08-15T01:32:17.029Z,1628991137.029 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,7C,FF
2021-08-15T01:32:17.029Z,1628991137.029 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:32:18.296Z,1628991138.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:32:18.649Z,1628991138.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:32:18.649Z,1628991138.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:32:18.649Z,1628991138.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:32:18.650Z,1628991138.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:32:19.042Z,1628991139.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,7C,FF
2021-08-15T01:32:19.042Z,1628991139.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:32:19.042Z,1628991139.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:32:19.045Z,1628991139.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:32:19.445Z,1628991139.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:32:20.273Z,1628991140.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,012EA,18A,80,80,78,FF
2021-08-15T01:32:20.273Z,1628991140.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:32:20.276Z,1628991140.276 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013220.32*5D

2021-08-15T01:32:20.721Z,1628991140.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 253.019989 m, bearing: 118.773165 deg, deltaT: 10.415314 s, approachRate: -47.243893 m/s, LOS rate: -1.682858 deg/s, posRepo size: 4
2021-08-15T01:32:20.723Z,1628991140.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.019989 m,
      bearing: 118.773165 deg,
      approachRate: -47.243893 m/s,
      LOS rate: -1.682858 deg/s,
      cmd update: -6.731432 deg/s,
      cmd heading: 136.300660 deg,
      new cmd heading: 136.300660 deg.

2021-08-15T01:32:23.118Z,1628991143.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:32:23.481Z,1628991143.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:32:23.481Z,1628991143.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:32:23.481Z,1628991143.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:32:23.482Z,1628991143.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:32:23.889Z,1628991143.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,012EA,18A,80,80,78,FF
2021-08-15T01:32:23.889Z,1628991143.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:32:23.889Z,1628991143.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:32:23.891Z,1628991143.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:32:23.911Z,1628991143.911 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:32:24.301Z,1628991144.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:32:25.128Z,1628991145.128 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,012DD,189,80,80,75,FF
2021-08-15T01:32:25.129Z,1628991145.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:32:25.132Z,1628991145.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013225.16*5E

2021-08-15T01:32:25.594Z,1628991145.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.239990 m, bearing: 99.360968 deg, deltaT: 4.855410 s, approachRate: -0.160645 m/s, LOS rate: -3.998055 deg/s, posRepo size: 4
2021-08-15T01:32:25.603Z,1628991145.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.239990 m,
      bearing: 99.360968 deg,
      approachRate: -0.160645 m/s,
      LOS rate: -3.998055 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 103.617038 deg,
      new cmd heading: 100.609784 deg.

2021-08-15T01:32:28.033Z,1628991148.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:32:28.333Z,1628991148.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:32:28.333Z,1628991148.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:32:28.334Z,1628991148.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:32:28.335Z,1628991148.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:32:28.761Z,1628991148.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,012DD,189,80,80,75,FF
2021-08-15T01:32:28.761Z,1628991148.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:32:28.761Z,1628991148.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:32:28.764Z,1628991148.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:32:29.153Z,1628991149.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:32:29.949Z,1628991149.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38C,000,012BF,188,80,80,5F,FF
2021-08-15T01:32:29.949Z,1628991149.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:32:29.953Z,1628991149.953 [Micromodem](INFO): Nmea in: $SNTTA,0.372445,0.413083,,,013230.04*57

2021-08-15T01:32:30.401Z,1628991150.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 250.440002 m, bearing: 99.622612 deg, deltaT: 4.892937 s, approachRate: -0.367875 m/s, LOS rate: 0.053474 deg/s, posRepo size: 4
2021-08-15T01:32:30.404Z,1628991150.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 250.440002 m,
      bearing: 99.622612 deg,
      approachRate: -0.367875 m/s,
      LOS rate: 0.053474 deg/s,
      cmd update: 0.213895 deg/s,
      cmd heading: 44.901949 deg,
      new cmd heading: 40.583113 deg.

2021-08-15T01:32:32.813Z,1628991152.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:32:33.181Z,1628991153.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:32:33.182Z,1628991153.182 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:32:33.182Z,1628991153.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:32:33.183Z,1628991153.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:32:33.601Z,1628991153.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38C,000,012BF,188,80,80,5F,FF
2021-08-15T01:32:33.601Z,1628991153.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:32:33.601Z,1628991153.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:32:33.603Z,1628991153.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:32:33.992Z,1628991153.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:32:34.026Z,1628991154.026 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:32:34.808Z,1628991154.808 [Micromodem](INFO): Nmea in: $SNTTA,0.180100,,,,013234.87*40

2021-08-15T01:32:35.633Z,1628991155.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,271,000,0390E,189,80,80,50,FF
2021-08-15T01:32:35.633Z,1628991155.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:32:36.085Z,1628991156.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 838.860046 m, bearing: 93.105860 deg, deltaT: 5.623885 s, approachRate: 104.628746 m/s, LOS rate: -1.158763 deg/s, posRepo size: 4
2021-08-15T01:32:36.093Z,1628991156.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 838.860046 m,
      bearing: 93.105860 deg,
      approachRate: 104.628746 m/s,
      LOS rate: -1.158763 deg/s,
      cmd update: -4.635053 deg/s,
      cmd heading: 46.104010 deg,
      new cmd heading: 46.193931 deg.

2021-08-15T01:32:38.459Z,1628991158.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:32:38.837Z,1628991158.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:32:38.837Z,1628991158.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:32:38.837Z,1628991158.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:32:38.838Z,1628991158.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:32:39.249Z,1628991159.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
271,000,0390E,189,80,80,50,FF
2021-08-15T01:32:39.249Z,1628991159.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:32:39.250Z,1628991159.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:32:39.251Z,1628991159.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:32:39.649Z,1628991159.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:32:40.473Z,1628991160.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CE,000,0126A,185,80,80,6A,FF
2021-08-15T01:32:40.474Z,1628991160.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:32:40.476Z,1628991160.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013240.52*5D

2021-08-15T01:32:40.902Z,1628991160.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.339981 m, bearing: 96.408776 deg, deltaT: 4.848444 s, approachRate: -122.414551 m/s, LOS rate: 0.681232 deg/s, posRepo size: 4
2021-08-15T01:32:40.924Z,1628991160.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.339981 m,
      bearing: 96.408776 deg,
      approachRate: -122.414551 m/s,
      LOS rate: 0.681232 deg/s,
      cmd update: 2.724928 deg/s,
      cmd heading: 23.706301 deg,
      new cmd heading: 21.807097 deg.

2021-08-15T01:32:43.307Z,1628991163.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:32:43.725Z,1628991163.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:32:43.726Z,1628991163.726 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:32:43.726Z,1628991163.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:32:43.728Z,1628991163.728 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:32:44.089Z,1628991164.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CE,000,0126A,185,80,80,6A,FF
2021-08-15T01:32:44.089Z,1628991164.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:32:44.089Z,1628991164.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:32:44.091Z,1628991164.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:32:44.505Z,1628991164.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:32:45.329Z,1628991165.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,0123A,187,80,80,7F,FF
2021-08-15T01:32:45.329Z,1628991165.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:32:45.333Z,1628991165.333 [Micromodem](INFO): Nmea in: $SNTTA,0.176446,,,,013245.36*42

2021-08-15T01:32:45.806Z,1628991165.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.459976 m, bearing: 95.491113 deg, deltaT: 4.869335 s, approachRate: -0.591458 m/s, LOS rate: -0.188458 deg/s, posRepo size: 4
2021-08-15T01:32:45.825Z,1628991165.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.459976 m,
      bearing: 95.491113 deg,
      approachRate: -0.591458 m/s,
      LOS rate: -0.188458 deg/s,
      cmd update: -0.753830 deg/s,
      cmd heading: 37.029647 deg,
      new cmd heading: 38.187529 deg.

2021-08-15T01:32:48.157Z,1628991168.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:32:48.541Z,1628991168.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:32:48.541Z,1628991168.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:32:48.541Z,1628991168.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:32:48.542Z,1628991168.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:32:48.949Z,1628991168.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,0123A,187,80,80,7F,FF
2021-08-15T01:32:48.949Z,1628991168.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:32:48.949Z,1628991168.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:32:48.951Z,1628991168.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:32:49.345Z,1628991169.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:32:50.177Z,1628991170.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC7,000,014C5,189,80,80,30,FF
2021-08-15T01:32:50.177Z,1628991170.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:32:50.182Z,1628991170.182 [Micromodem](INFO): Nmea in: $SNTTA,0.189826,,,,013250.23*48

2021-08-15T01:32:50.615Z,1628991170.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.519989 m, bearing: 99.335266 deg, deltaT: 4.821598 s, approachRate: 8.101051 m/s, LOS rate: 0.797278 deg/s, posRepo size: 4
2021-08-15T01:32:50.617Z,1628991170.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.519989 m,
      bearing: 99.335266 deg,
      approachRate: 8.101051 m/s,
      LOS rate: 0.797278 deg/s,
      cmd update: 3.189112 deg/s,
      cmd heading: 33.395037 deg,
      new cmd heading: 33.084421 deg.

2021-08-15T01:32:53.015Z,1628991173.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:32:53.385Z,1628991173.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:32:53.385Z,1628991173.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:32:53.385Z,1628991173.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:32:53.386Z,1628991173.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:32:53.797Z,1628991173.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC7,000,014C5,189,80,80,30,FF
2021-08-15T01:32:53.797Z,1628991173.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:32:53.797Z,1628991173.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:32:53.799Z,1628991173.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:32:53.846Z,1628991173.846 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T01:32:54.202Z,1628991174.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:32:55.021Z,1628991175.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,011EB,186,80,80,41,FF
2021-08-15T01:32:55.021Z,1628991175.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:32:55.024Z,1628991175.024 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013255.07*59

2021-08-15T01:32:55.432Z,1628991175.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.719986 m, bearing: 46.261981 deg, deltaT: 4.856676 s, approachRate: -9.018515 m/s, LOS rate: -10.927903 deg/s, posRepo size: 4
2021-08-15T01:32:55.434Z,1628991175.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.719986 m,
      bearing: 46.261981 deg,
      approachRate: -9.018515 m/s,
      LOS rate: -10.927903 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 48.819858 deg,
      new cmd heading: 50.070870 deg.

2021-08-15T01:32:57.896Z,1628991177.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:32:58.233Z,1628991178.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:32:58.233Z,1628991178.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:32:58.233Z,1628991178.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:32:58.234Z,1628991178.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:32:58.642Z,1628991178.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,011EB,186,80,80,41,FF
2021-08-15T01:32:58.642Z,1628991178.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:32:58.642Z,1628991178.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:32:58.644Z,1628991178.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:32:59.041Z,1628991179.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:32:59.889Z,1628991179.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,011CA,18A,80,80,4D,FF
2021-08-15T01:32:59.889Z,1628991179.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:32:59.893Z,1628991179.893 [Micromodem](INFO): Nmea in: $SNTTA,0.473002,,,,013259.92*45

2021-08-15T01:33:00.283Z,1628991180.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.740005 m, bearing: 113.613408 deg, deltaT: 4.914764 s, approachRate: -0.402864 m/s, LOS rate: 13.703899 deg/s, posRepo size: 4
2021-08-15T01:33:00.284Z,1628991180.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.703899 deg/s. Setting heading cmd to target bearing of 113.613408deg and heading rate command to 0 deg/s.
2021-08-15T01:33:02.719Z,1628991182.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:33:03.081Z,1628991183.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:33:03.081Z,1628991183.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:33:03.081Z,1628991183.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:33:03.082Z,1628991183.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:33:03.481Z,1628991183.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,011CA,18A,80,80,4D,FF
2021-08-15T01:33:03.481Z,1628991183.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:33:03.481Z,1628991183.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:33:03.483Z,1628991183.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:33:03.900Z,1628991183.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:33:03.934Z,1628991183.934 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T01:33:04.709Z,1628991184.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B84,000,011BE,189,80,80,50,FF
2021-08-15T01:33:04.709Z,1628991184.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:33:04.713Z,1628991184.713 [Micromodem](INFO): Nmea in: $SNTTA,0.013833,,,,013304.75*4D

2021-08-15T01:33:05.136Z,1628991185.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.019989 m, bearing: 91.064966 deg, deltaT: 4.792312 s, approachRate: -0.150244 m/s, LOS rate: -4.705128 deg/s, posRepo size: 4
2021-08-15T01:33:05.138Z,1628991185.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.019989 m,
      bearing: 91.064966 deg,
      approachRate: -0.150244 m/s,
      LOS rate: -4.705128 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 113.613408 deg,
      new cmd heading: 113.613408 deg.

2021-08-15T01:33:07.595Z,1628991187.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:33:07.925Z,1628991187.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:33:07.925Z,1628991187.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:33:07.925Z,1628991187.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:33:07.926Z,1628991187.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:33:08.329Z,1628991188.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B84,000,011BE,189,80,80,50,FF
2021-08-15T01:33:08.329Z,1628991188.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:33:08.330Z,1628991188.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:33:08.331Z,1628991188.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:33:08.760Z,1628991188.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:33:09.593Z,1628991189.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBF,000,011B0,189,80,80,82,FF
2021-08-15T01:33:09.594Z,1628991189.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:33:09.597Z,1628991189.597 [Micromodem](INFO): Nmea in: $SNTTA,0.158877,,,,013309.61*4B

2021-08-15T01:33:10.003Z,1628991190.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.179977 m, bearing: 55.749650 deg, deltaT: 4.855665 s, approachRate: -0.172996 m/s, LOS rate: -7.273013 deg/s, posRepo size: 4
2021-08-15T01:33:10.006Z,1628991190.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.179977 m,
      bearing: 55.749650 deg,
      approachRate: -0.172996 m/s,
      LOS rate: -7.273013 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 55.008586 deg,
      new cmd heading: 50.437990 deg.

2021-08-15T01:33:12.395Z,1628991192.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:33:12.773Z,1628991192.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:33:12.773Z,1628991192.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:33:12.773Z,1628991192.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:33:12.774Z,1628991192.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:33:13.178Z,1628991193.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBF,000,011B0,189,80,80,82,FF
2021-08-15T01:33:13.178Z,1628991193.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:33:13.178Z,1628991193.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:33:13.181Z,1628991193.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:33:13.601Z,1628991193.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:33:13.999Z,1628991193.999 [Micromodem](INFO): Nmea in: $SNTTA,0.204149,0.204055,,,013314.45*57

2021-08-15T01:33:14.026Z,1628991194.026 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T01:33:15.236Z,1628991195.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:33:16.022Z,1628991196.022 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-15T01:33:16.813Z,1628991196.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,189,80,80,82,FF
2021-08-15T01:33:16.813Z,1628991196.813 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,189,80,80,82,FF
2021-08-15T01:33:16.813Z,1628991196.813 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:33:18.071Z,1628991198.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:33:18.429Z,1628991198.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:33:18.429Z,1628991198.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:33:18.430Z,1628991198.430 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:33:18.431Z,1628991198.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:33:18.838Z,1628991198.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,189,80,80,82,FF
2021-08-15T01:33:18.838Z,1628991198.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:33:18.838Z,1628991198.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:33:18.839Z,1628991198.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:33:19.245Z,1628991199.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:33:20.074Z,1628991200.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013320.11*5D

2021-08-15T01:33:20.891Z,1628991200.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:33:22.469Z,1628991202.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,189,80,80,82,FF
2021-08-15T01:33:22.469Z,1628991202.469 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,189,80,80,82,FF
2021-08-15T01:33:22.470Z,1628991202.470 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:33:23.785Z,1628991203.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:33:24.097Z,1628991204.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:33:24.097Z,1628991204.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:33:24.097Z,1628991204.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:33:24.098Z,1628991204.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:33:24.490Z,1628991204.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,189,80,80,82,FF
2021-08-15T01:33:24.490Z,1628991204.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:33:24.490Z,1628991204.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:33:24.491Z,1628991204.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:33:24.900Z,1628991204.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:33:25.758Z,1628991205.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,01188,186,80,80,44,FF
2021-08-15T01:33:25.758Z,1628991205.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:33:25.765Z,1628991205.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013325.76*59

2021-08-15T01:33:26.175Z,1628991206.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.779984 m, bearing: 50.384612 deg, deltaT: 16.351696 s, approachRate: -0.146773 m/s, LOS rate: -0.328103 deg/s, posRepo size: 4
2021-08-15T01:33:26.178Z,1628991206.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.779984 m,
      bearing: 50.384612 deg,
      approachRate: -0.146773 m/s,
      LOS rate: -0.328103 deg/s,
      cmd update: -1.312411 deg/s,
      cmd heading: 218.787605 deg,
      new cmd heading: 216.391649 deg.

2021-08-15T01:33:28.621Z,1628991208.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:33:28.961Z,1628991208.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:33:28.961Z,1628991208.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:33:28.961Z,1628991208.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:33:28.962Z,1628991208.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:33:29.369Z,1628991209.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,01188,186,80,80,44,FF
2021-08-15T01:33:29.370Z,1628991209.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:33:29.370Z,1628991209.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:33:29.371Z,1628991209.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:33:29.796Z,1628991209.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:33:30.172Z,1628991210.172 [Micromodem](INFO): Nmea in: $SNTTA,0.157181,0.109556,,,013330.64*5B

2021-08-15T01:33:30.587Z,1628991210.587 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39E,000,01199,189,80,80,33,FF
2021-08-15T01:33:30.592Z,1628991210.592 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:33:31.011Z,1628991211.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.799988 m, bearing: 321.018946 deg, deltaT: 4.661162 s, approachRate: 0.218830 m/s, LOS rate: -19.172401 deg/s, posRepo size: 4
2021-08-15T01:33:31.013Z,1628991211.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.172401 deg/s. Setting heading cmd to target bearing of 321.018946deg and heading rate command to 0 deg/s.
2021-08-15T01:33:33.439Z,1628991213.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:33:33.821Z,1628991213.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:33:33.821Z,1628991213.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:33:33.821Z,1628991213.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:33:33.822Z,1628991213.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:33:33.877Z,1628991213.877 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T01:33:34.225Z,1628991214.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39E,000,01199,189,80,80,33,FF
2021-08-15T01:33:34.226Z,1628991214.226 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:33:34.226Z,1628991214.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:33:34.227Z,1628991214.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:33:34.640Z,1628991214.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:33:35.457Z,1628991215.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,011B4,187,80,80,69,FF
2021-08-15T01:33:35.458Z,1628991215.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:33:35.481Z,1628991215.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013335.50*5C

2021-08-15T01:33:35.911Z,1628991215.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.419998 m, bearing: 355.963505 deg, deltaT: 4.861027 s, approachRate: 0.333265 m/s, LOS rate: 7.188719 deg/s, posRepo size: 4
2021-08-15T01:33:35.914Z,1628991215.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.419998 m,
      bearing: 355.963505 deg,
      approachRate: 0.333265 m/s,
      LOS rate: 7.188719 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 321.018946 deg,
      new cmd heading: 321.018946 deg.

2021-08-15T01:33:38.282Z,1628991218.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:33:38.670Z,1628991218.670 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:33:38.670Z,1628991218.670 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:33:38.670Z,1628991218.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:33:38.671Z,1628991218.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:33:39.061Z,1628991219.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,011B4,187,80,80,69,FF
2021-08-15T01:33:39.061Z,1628991219.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:33:39.062Z,1628991219.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:33:39.063Z,1628991219.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:33:39.484Z,1628991219.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:33:40.309Z,1628991220.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,011E7,186,80,80,26,FF
2021-08-15T01:33:40.310Z,1628991220.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:33:40.313Z,1628991220.313 [Micromodem](INFO): Nmea in: $SNTTA,0.161778,,,,013340.34*4C

2021-08-15T01:33:40.720Z,1628991220.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.479996 m, bearing: 350.756934 deg, deltaT: 4.832663 s, approachRate: 0.633191 m/s, LOS rate: -1.077371 deg/s, posRepo size: 4
2021-08-15T01:33:40.722Z,1628991220.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.479996 m,
      bearing: 350.756934 deg,
      approachRate: 0.633191 m/s,
      LOS rate: -1.077371 deg/s,
      cmd update: -4.309484 deg/s,
      cmd heading: 19.006007 deg,
      new cmd heading: 23.697083 deg.

2021-08-15T01:33:43.126Z,1628991223.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:33:43.518Z,1628991223.518 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:33:43.518Z,1628991223.518 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:33:43.518Z,1628991223.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:33:43.519Z,1628991223.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:33:43.917Z,1628991223.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,011E7,186,80,80,26,FF
2021-08-15T01:33:43.917Z,1628991223.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:33:43.918Z,1628991223.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:33:43.919Z,1628991223.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:33:44.327Z,1628991224.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:33:45.149Z,1628991225.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,0120D,187,80,80,2D,FF
2021-08-15T01:33:45.150Z,1628991225.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:33:45.153Z,1628991225.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013345.19*56

2021-08-15T01:33:45.594Z,1628991225.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.759979 m, bearing: 341.420912 deg, deltaT: 4.881930 s, approachRate: 0.467025 m/s, LOS rate: -1.912363 deg/s, posRepo size: 4
2021-08-15T01:33:45.600Z,1628991225.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.759979 m,
      bearing: 341.420912 deg,
      approachRate: 0.467025 m/s,
      LOS rate: -1.912363 deg/s,
      cmd update: -7.649452 deg/s,
      cmd heading: 358.000663 deg,
      new cmd heading: 356.314930 deg.

2021-08-15T01:33:48.025Z,1628991228.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:33:48.374Z,1628991228.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:33:48.374Z,1628991228.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:33:48.374Z,1628991228.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:33:48.375Z,1628991228.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:33:48.768Z,1628991228.768 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,0120D,187,80,80,2D,FF
2021-08-15T01:33:48.769Z,1628991228.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:33:48.769Z,1628991228.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:33:48.770Z,1628991228.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:33:49.183Z,1628991229.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:33:49.994Z,1628991229.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,01246,186,80,80,60,FF
2021-08-15T01:33:49.995Z,1628991229.995 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:33:49.999Z,1628991229.999 [Micromodem](INFO): Nmea in: $SNTTA,0.367623,,,,013350.05*44

2021-08-15T01:33:50.408Z,1628991230.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.179993 m, bearing: 352.455410 deg, deltaT: 4.876925 s, approachRate: 0.701264 m/s, LOS rate: 2.262593 deg/s, posRepo size: 4
2021-08-15T01:33:50.410Z,1628991230.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.179993 m,
      bearing: 352.455410 deg,
      approachRate: 0.701264 m/s,
      LOS rate: 2.262593 deg/s,
      cmd update: 9.050374 deg/s,
      cmd heading: 320.633145 deg,
      new cmd heading: 318.187286 deg.

2021-08-15T01:33:52.841Z,1628991232.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:33:53.214Z,1628991233.214 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:33:53.214Z,1628991233.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:33:53.214Z,1628991233.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:33:53.215Z,1628991233.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:33:53.629Z,1628991233.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,01246,186,80,80,60,FF
2021-08-15T01:33:53.629Z,1628991233.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:33:53.630Z,1628991233.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:33:53.631Z,1628991233.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:33:54.025Z,1628991234.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:33:54.824Z,1628991234.824 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013354.91*56

2021-08-15T01:33:55.746Z,1628991235.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:33:57.245Z,1628991237.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,60,FF
2021-08-15T01:33:57.246Z,1628991237.246 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,60,FF
2021-08-15T01:33:57.246Z,1628991237.246 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:33:58.479Z,1628991238.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:33:58.863Z,1628991238.863 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:33:58.863Z,1628991238.863 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:33:58.863Z,1628991238.863 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:33:58.864Z,1628991238.864 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:33:59.261Z,1628991239.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,60,FF
2021-08-15T01:33:59.261Z,1628991239.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:33:59.261Z,1628991239.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:33:59.263Z,1628991239.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:33:59.673Z,1628991239.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:33:59.707Z,1628991239.707 [Micromodem](INFO): Nmea in: TTA,0.122093,0.122762,,,013400.54*50

2021-08-15T01:33:59.709Z,1628991239.709 [Micromodem](ERROR): Response from modem failed NMEA checksum: TTA,0.122093,0.122762,,,013400.54*50
 expected 0
2021-08-15T01:34:00.473Z,1628991240.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F54,000,01291,186,80,80,4C,FF
2021-08-15T01:34:00.474Z,1628991240.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:34:01.043Z,1628991241.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 247.679993 m, bearing: 1.062677 deg, deltaT: 10.451215 s, approachRate: 0.430572 m/s, LOS rate: 0.823565 deg/s, posRepo size: 4
2021-08-15T01:34:01.079Z,1628991241.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.679993 m,
      bearing: 1.062677 deg,
      approachRate: 0.430572 m/s,
      LOS rate: 0.823565 deg/s,
      cmd update: 3.294261 deg/s,
      cmd heading: 55.113862 deg,
      new cmd heading: 59.783981 deg.

2021-08-15T01:34:03.331Z,1628991243.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:34:03.745Z,1628991243.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:34:03.745Z,1628991243.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:34:03.745Z,1628991243.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:34:03.746Z,1628991243.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:34:04.125Z,1628991244.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F54,000,01291,186,80,80,4C,FF
2021-08-15T01:34:04.125Z,1628991244.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:34:04.125Z,1628991244.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:34:04.127Z,1628991244.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:34:04.521Z,1628991244.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:34:05.332Z,1628991245.332 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E6,000,012B6,189,80,80,33,FF
2021-08-15T01:34:05.333Z,1628991245.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:34:05.336Z,1628991245.336 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013405.40*59

2021-08-15T01:34:05.869Z,1628991245.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.899979 m, bearing: 335.753713 deg, deltaT: 4.813069 s, approachRate: 0.461241 m/s, LOS rate: -5.258382 deg/s, posRepo size: 4
2021-08-15T01:34:05.871Z,1628991245.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.899979 m,
      bearing: 335.753713 deg,
      approachRate: 0.461241 m/s,
      LOS rate: -5.258382 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 71.006055 deg,
      new cmd heading: 72.712262 deg.

2021-08-15T01:34:07.886Z,1628991247.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:34:08.156Z,1628991248.156 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:34:08.156Z,1628991248.156 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:34:08.156Z,1628991248.156 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:34:08.157Z,1628991248.157 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:34:08.556Z,1628991248.556 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E6,000,012B6,189,80,80,33,FF
2021-08-15T01:34:08.557Z,1628991248.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:34:08.557Z,1628991248.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:34:08.563Z,1628991248.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:34:08.960Z,1628991248.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:34:09.373Z,1628991249.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E19,000,00BC7,186,80,80,56,FF
2021-08-15T01:34:09.373Z,1628991249.373 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:34:09.809Z,1628991249.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013409.84*5D

2021-08-15T01:34:09.868Z,1628991249.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.400009 m, bearing: 52.576071 deg, deltaT: 4.043539 s, approachRate: -26.338306 m/s, LOS rate: 18.998791 deg/s, posRepo size: 4
2021-08-15T01:34:09.869Z,1628991249.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.998791 deg/s. Setting heading cmd to target bearing of 52.576071deg and heading rate command to 0 deg/s.
2021-08-15T01:34:12.224Z,1628991252.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:34:12.633Z,1628991252.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:34:12.633Z,1628991252.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:34:12.633Z,1628991252.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:34:12.634Z,1628991252.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:34:13.001Z,1628991253.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E19,000,00BC7,186,80,80,56,FF
2021-08-15T01:34:13.001Z,1628991253.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:34:13.002Z,1628991253.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:34:13.003Z,1628991253.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:34:13.409Z,1628991253.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:34:14.241Z,1628991254.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D23,000,012CB,18A,80,80,36,FF
2021-08-15T01:34:14.242Z,1628991254.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:34:14.245Z,1628991254.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013414.27*58

2021-08-15T01:34:14.673Z,1628991254.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.159988 m, bearing: 75.183861 deg, deltaT: 4.864019 s, approachRate: 22.154514 m/s, LOS rate: 4.647965 deg/s, posRepo size: 4
2021-08-15T01:34:14.675Z,1628991254.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.159988 m,
      bearing: 75.183861 deg,
      approachRate: 22.154514 m/s,
      LOS rate: 4.647965 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 52.576071 deg,
      new cmd heading: 52.576071 deg.

2021-08-15T01:34:17.076Z,1628991257.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:34:17.449Z,1628991257.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:34:17.449Z,1628991257.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:34:17.449Z,1628991257.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:34:17.450Z,1628991257.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:34:17.845Z,1628991257.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D23,000,012CB,18A,80,80,36,FF
2021-08-15T01:34:17.845Z,1628991257.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:34:17.846Z,1628991257.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:34:17.847Z,1628991257.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:34:18.262Z,1628991258.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:34:19.082Z,1628991259.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013419.12*53

2021-08-15T01:34:19.865Z,1628991259.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,037BB,189,80,80,55,FF
2021-08-15T01:34:19.865Z,1628991259.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:34:20.304Z,1628991260.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 818.520081 m, bearing: 112.020416 deg, deltaT: 5.690753 s, approachRate: 99.698601 m/s, LOS rate: 6.473055 deg/s, posRepo size: 4
2021-08-15T01:34:20.306Z,1628991260.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 818.520081 m,
      bearing: 112.020416 deg,
      approachRate: 99.698601 m/s,
      LOS rate: 6.473055 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 120.864593 deg,
      new cmd heading: 125.103293 deg.

2021-08-15T01:34:22.725Z,1628991262.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:34:23.097Z,1628991263.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:34:23.097Z,1628991263.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:34:23.097Z,1628991263.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:34:23.098Z,1628991263.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:34:23.505Z,1628991263.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,037BB,189,80,80,55,FF
2021-08-15T01:34:23.505Z,1628991263.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:34:23.505Z,1628991263.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:34:23.507Z,1628991263.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:34:23.913Z,1628991263.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:34:24.309Z,1628991264.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B66,000,004BB,18A,80,80,52,FF
2021-08-15T01:34:24.310Z,1628991264.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:34:24.757Z,1628991264.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013424.78*51

2021-08-15T01:34:24.783Z,1628991264.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.159996 m, bearing: 122.310247 deg, deltaT: 4.375731 s, approachRate: -179.023819 m/s, LOS rate: 2.351568 deg/s, posRepo size: 4
2021-08-15T01:34:24.784Z,1628991264.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.16 m.
2021-08-15T01:34:24.786Z,1628991264.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.159996 m,
      bearing: 122.310247 deg,
      approachRate: -179.023819 m/s,
      LOS rate: 2.351568 deg/s,
      cmd update: 9.406274 deg/s,
      cmd heading: 173.373775 deg,
      new cmd heading: 178.857403 deg.

2021-08-15T01:34:25.154Z,1628991265.154 [PowerOnly](INFO): Powering up loadControl
2021-08-15T01:34:25.207Z,1628991265.207 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T01:34:25.207Z,1628991265.207 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:34:25.207Z,1628991265.207 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T01:34:25.208Z,1628991265.208 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T01:34:25.208Z,1628991265.208 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T01:34:25.208Z,1628991265.208 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T01:34:25.605Z,1628991265.605 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T01:34:25.605Z,1628991265.605 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:34:25.605Z,1628991265.605 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T01:34:25.605Z,1628991265.605 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:34:27.199Z,1628991267.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:34:27.545Z,1628991267.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:34:27.545Z,1628991267.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:34:27.545Z,1628991267.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:34:27.546Z,1628991267.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:34:27.950Z,1628991267.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B66,000,004BB,18A,80,80,52,FF
2021-08-15T01:34:27.950Z,1628991267.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:34:27.950Z,1628991267.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:34:27.952Z,1628991267.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:34:28.353Z,1628991268.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:34:29.176Z,1628991269.176 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013429.22*53

2021-08-15T01:34:30.017Z,1628991270.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:34:31.601Z,1628991271.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,18A,80,80,52,FF
2021-08-15T01:34:31.601Z,1628991271.601 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,18A,80,80,52,FF
2021-08-15T01:34:31.601Z,1628991271.601 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:34:32.835Z,1628991272.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:34:33.218Z,1628991273.218 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:34:33.218Z,1628991273.218 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:34:33.218Z,1628991273.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:34:33.219Z,1628991273.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:34:33.637Z,1628991273.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,18A,80,80,52,FF
2021-08-15T01:34:33.637Z,1628991273.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:34:33.638Z,1628991273.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:34:33.639Z,1628991273.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:34:34.092Z,1628991274.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:34:34.886Z,1628991274.886 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013434.91*57

2021-08-15T01:34:35.769Z,1628991275.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:34:37.302Z,1628991277.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,18A,80,80,52,FF
2021-08-15T01:34:37.302Z,1628991277.302 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,18A,80,80,52,FF
2021-08-15T01:34:37.302Z,1628991277.302 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:34:38.550Z,1628991278.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:34:38.917Z,1628991278.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:34:38.917Z,1628991278.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:34:38.917Z,1628991278.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:34:38.918Z,1628991278.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:34:39.321Z,1628991279.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,18A,80,80,52,FF
2021-08-15T01:34:39.321Z,1628991279.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:34:39.321Z,1628991279.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:34:39.323Z,1628991279.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:34:39.772Z,1628991279.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:34:40.574Z,1628991280.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,01223,186,80,80,71,FF
2021-08-15T01:34:40.576Z,1628991280.576 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:34:40.591Z,1628991280.591 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013440.60*5A

2021-08-15T01:34:40.667Z,1628991280.667 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:34:40.982Z,1628991280.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.079987 m, bearing: 120.161305 deg, deltaT: 16.344224 s, approachRate: 12.598946 m/s, LOS rate: -0.131480 deg/s, posRepo size: 4
2021-08-15T01:34:40.984Z,1628991280.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.079987 m,
      bearing: 120.161305 deg,
      approachRate: 12.598946 m/s,
      LOS rate: -0.131480 deg/s,
      cmd update: -0.525921 deg/s,
      cmd heading: 327.009141 deg,
      new cmd heading: 330.043934 deg.

2021-08-15T01:34:41.377Z,1628991281.377 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T01:34:41.377Z,1628991281.377 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:34:41.377Z,1628991281.377 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T01:34:41.378Z,1628991281.378 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T01:34:41.378Z,1628991281.378 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T01:34:41.378Z,1628991281.378 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T01:34:41.839Z,1628991281.839 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T01:34:41.839Z,1628991281.839 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:34:41.839Z,1628991281.839 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T01:34:41.840Z,1628991281.840 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:34:43.395Z,1628991283.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:34:43.791Z,1628991283.791 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:34:43.791Z,1628991283.791 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:34:43.815Z,1628991283.815 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:34:43.828Z,1628991283.828 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:34:44.174Z,1628991284.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,01223,186,80,80,71,FF
2021-08-15T01:34:44.174Z,1628991284.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:34:44.175Z,1628991284.175 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:34:44.177Z,1628991284.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:34:44.596Z,1628991284.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:34:45.405Z,1628991285.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAD,000,011F3,184,80,80,91,FF
2021-08-15T01:34:45.406Z,1628991285.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:34:45.433Z,1628991285.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013445.45*58

2021-08-15T01:34:45.914Z,1628991285.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.199982 m, bearing: 119.302300 deg, deltaT: 4.778699 s, approachRate: -0.602675 m/s, LOS rate: -0.179757 deg/s, posRepo size: 4
2021-08-15T01:34:45.916Z,1628991285.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.199982 m,
      bearing: 119.302300 deg,
      approachRate: -0.602675 m/s,
      LOS rate: -0.179757 deg/s,
      cmd update: -0.719029 deg/s,
      cmd heading: 324.490307 deg,
      new cmd heading: 324.245789 deg.

2021-08-15T01:34:48.259Z,1628991288.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:34:48.633Z,1628991288.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:34:48.633Z,1628991288.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:34:48.633Z,1628991288.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:34:48.634Z,1628991288.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:34:49.025Z,1628991289.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAD,000,011F3,184,80,80,91,FF
2021-08-15T01:34:49.025Z,1628991289.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:34:49.026Z,1628991289.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:34:49.027Z,1628991289.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:34:49.424Z,1628991289.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:34:50.253Z,1628991290.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,011C6,186,80,80,A6,FF
2021-08-15T01:34:50.254Z,1628991290.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:34:50.257Z,1628991290.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013450.30*5E

2021-08-15T01:34:50.682Z,1628991290.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.499985 m, bearing: 120.450850 deg, deltaT: 4.856233 s, approachRate: -0.555986 m/s, LOS rate: 0.236511 deg/s, posRepo size: 4
2021-08-15T01:34:50.684Z,1628991290.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.499985 m,
      bearing: 120.450850 deg,
      approachRate: -0.555986 m/s,
      LOS rate: 0.236511 deg/s,
      cmd update: 0.946043 deg/s,
      cmd heading: 321.004495 deg,
      new cmd heading: 320.727441 deg.

2021-08-15T01:34:53.075Z,1628991293.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:34:53.465Z,1628991293.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:34:53.465Z,1628991293.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:34:53.465Z,1628991293.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:34:53.466Z,1628991293.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:34:53.873Z,1628991293.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,011C6,186,80,80,A6,FF
2021-08-15T01:34:53.873Z,1628991293.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:34:53.874Z,1628991293.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:34:53.875Z,1628991293.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:34:54.268Z,1628991294.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:34:55.105Z,1628991295.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BB2,000,011A1,189,80,80,6E,FF
2021-08-15T01:34:55.105Z,1628991295.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:34:55.108Z,1628991295.108 [Micromodem](INFO): Nmea in: $SNTTA,0.160264,,,,013455.15*45

2021-08-15T01:34:55.527Z,1628991295.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.279984 m, bearing: 134.211742 deg, deltaT: 4.818980 s, approachRate: -0.460679 m/s, LOS rate: 2.855561 deg/s, posRepo size: 4
2021-08-15T01:34:55.529Z,1628991295.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.279984 m,
      bearing: 134.211742 deg,
      approachRate: -0.460679 m/s,
      LOS rate: 2.855561 deg/s,
      cmd update: 11.422244 deg/s,
      cmd heading: 325.571524 deg,
      new cmd heading: 325.952253 deg.

2021-08-15T01:34:57.971Z,1628991297.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:34:58.317Z,1628991298.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:34:58.317Z,1628991298.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:34:58.317Z,1628991298.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:34:58.318Z,1628991298.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:34:58.713Z,1628991298.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BB2,000,011A1,189,80,80,6E,FF
2021-08-15T01:34:58.713Z,1628991298.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:34:58.713Z,1628991298.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:34:58.715Z,1628991298.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:34:59.132Z,1628991299.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:34:59.940Z,1628991299.940 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B5D,000,01187,189,80,80,66,FF
2021-08-15T01:34:59.941Z,1628991299.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:34:59.944Z,1628991299.944 [Micromodem](INFO): Nmea in: $SNTTA,0.436236,0.436336,,,013459.99*55

2021-08-15T01:35:00.381Z,1628991300.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.719986 m, bearing: 122.395938 deg, deltaT: 4.890991 s, approachRate: -0.318953 m/s, LOS rate: -2.415830 deg/s, posRepo size: 4
2021-08-15T01:35:00.383Z,1628991300.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.719986 m,
      bearing: 122.395938 deg,
      approachRate: -0.318953 m/s,
      LOS rate: -2.415830 deg/s,
      cmd update: -9.663321 deg/s,
      cmd heading: 21.388809 deg,
      new cmd heading: 25.560715 deg.

2021-08-15T01:35:02.786Z,1628991302.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:35:03.157Z,1628991303.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:35:03.157Z,1628991303.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:35:03.157Z,1628991303.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:35:03.158Z,1628991303.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:35:03.565Z,1628991303.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B5D,000,01187,189,80,80,66,FF
2021-08-15T01:35:03.565Z,1628991303.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:35:03.566Z,1628991303.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:35:03.571Z,1628991303.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:35:03.968Z,1628991303.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:35:04.802Z,1628991304.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9D,000,0117D,189,80,80,2B,FF
2021-08-15T01:35:04.802Z,1628991304.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:35:04.805Z,1628991304.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013504.85*50

2021-08-15T01:35:05.217Z,1628991305.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.119980 m, bearing: 73.974794 deg, deltaT: 4.816166 s, approachRate: -0.124582 m/s, LOS rate: -10.053878 deg/s, posRepo size: 4
2021-08-15T01:35:05.219Z,1628991305.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.119980 m,
      bearing: 73.974794 deg,
      approachRate: -0.124582 m/s,
      LOS rate: -10.053878 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 334.807495 deg,
      new cmd heading: 331.084460 deg.

2021-08-15T01:35:07.704Z,1628991307.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:35:08.017Z,1628991308.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:35:08.017Z,1628991308.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:35:08.017Z,1628991308.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:35:08.018Z,1628991308.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:35:08.407Z,1628991308.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9D,000,0117D,189,80,80,2B,FF
2021-08-15T01:35:08.407Z,1628991308.407 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:35:08.407Z,1628991308.407 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:35:08.409Z,1628991308.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:35:08.839Z,1628991308.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:35:09.645Z,1628991309.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F2,000,01186,189,80,80,4E,FF
2021-08-15T01:35:09.645Z,1628991309.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:35:09.673Z,1628991309.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013509.68*5E

2021-08-15T01:35:10.095Z,1628991310.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.660004 m, bearing: 347.202585 deg, deltaT: 4.946637 s, approachRate: 0.109170 m/s, LOS rate: -17.541659 deg/s, posRepo size: 4
2021-08-15T01:35:10.096Z,1628991310.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.541659 deg/s. Setting heading cmd to target bearing of 347.202585deg and heading rate command to 0 deg/s.
2021-08-15T01:35:12.483Z,1628991312.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:35:12.857Z,1628991312.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:35:12.857Z,1628991312.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:35:12.857Z,1628991312.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:35:12.858Z,1628991312.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:35:13.257Z,1628991313.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F2,000,01186,189,80,80,4E,FF
2021-08-15T01:35:13.257Z,1628991313.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:35:13.257Z,1628991313.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:35:13.259Z,1628991313.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:35:13.697Z,1628991313.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:35:14.486Z,1628991314.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013514.53*5A

2021-08-15T01:35:15.326Z,1628991315.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:35:16.905Z,1628991316.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,4E,FF
2021-08-15T01:35:16.905Z,1628991316.905 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,4E,FF
2021-08-15T01:35:16.905Z,1628991316.905 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:35:18.140Z,1628991318.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:35:18.521Z,1628991318.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:35:18.521Z,1628991318.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:35:18.521Z,1628991318.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:35:18.522Z,1628991318.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:35:18.913Z,1628991318.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,4E,FF
2021-08-15T01:35:18.913Z,1628991318.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:35:18.914Z,1628991318.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:35:18.915Z,1628991318.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:35:19.329Z,1628991319.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:35:19.765Z,1628991319.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,00B55,187,80,80,2F,FF
2021-08-15T01:35:19.766Z,1628991319.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:35:20.166Z,1628991320.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013520.19*53

2021-08-15T01:35:20.206Z,1628991320.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.559998 m, bearing: 9.060904 deg, deltaT: 10.063576 s, approachRate: -9.449922 m/s, LOS rate: 2.172023 deg/s, posRepo size: 4
2021-08-15T01:35:20.208Z,1628991320.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.559998 m,
      bearing: 9.060904 deg,
      approachRate: -9.449922 m/s,
      LOS rate: 2.172023 deg/s,
      cmd update: 8.688091 deg/s,
      cmd heading: 347.202585 deg,
      new cmd heading: 347.202585 deg.

2021-08-15T01:35:22.635Z,1628991322.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:35:22.957Z,1628991322.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:35:22.957Z,1628991322.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:35:22.957Z,1628991322.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:35:22.958Z,1628991322.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:35:23.366Z,1628991323.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,00B55,187,80,80,2F,FF
2021-08-15T01:35:23.367Z,1628991323.367 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:35:23.367Z,1628991323.367 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:35:23.369Z,1628991323.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:35:23.788Z,1628991323.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:35:24.616Z,1628991324.616 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D50,000,011EB,18A,80,80,67,FF
2021-08-15T01:35:24.617Z,1628991324.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:35:24.619Z,1628991324.619 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013524.64*5D

2021-08-15T01:35:25.039Z,1628991325.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.719986 m, bearing: 23.384515 deg, deltaT: 4.804429 s, approachRate: 21.055569 m/s, LOS rate: 2.981335 deg/s, posRepo size: 4
2021-08-15T01:35:25.041Z,1628991325.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.719986 m,
      bearing: 23.384515 deg,
      approachRate: 21.055569 m/s,
      LOS rate: 2.981335 deg/s,
      cmd update: 11.925339 deg/s,
      cmd heading: 28.978550 deg,
      new cmd heading: 32.257575 deg.

2021-08-15T01:35:27.461Z,1628991327.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:35:27.809Z,1628991327.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:35:27.809Z,1628991327.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:35:27.809Z,1628991327.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:35:27.810Z,1628991327.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:35:28.217Z,1628991328.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D50,000,011EB,18A,80,80,67,FF
2021-08-15T01:35:28.217Z,1628991328.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:35:28.218Z,1628991328.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:35:28.221Z,1628991328.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:35:28.640Z,1628991328.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:35:29.437Z,1628991329.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE9,000,01213,189,80,80,49,FF
2021-08-15T01:35:29.438Z,1628991329.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:35:29.440Z,1628991329.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013529.49*5F

2021-08-15T01:35:29.910Z,1628991329.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.119995 m, bearing: 46.785659 deg, deltaT: 4.833810 s, approachRate: 0.496505 m/s, LOS rate: 4.841139 deg/s, posRepo size: 4
2021-08-15T01:35:29.912Z,1628991329.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.119995 m,
      bearing: 46.785659 deg,
      approachRate: 0.496505 m/s,
      LOS rate: 4.841139 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 86.383041 deg,
      new cmd heading: 91.748036 deg.

2021-08-15T01:35:32.321Z,1628991332.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:35:32.657Z,1628991332.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:35:32.657Z,1628991332.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:35:32.657Z,1628991332.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:35:32.658Z,1628991332.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:35:33.053Z,1628991333.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE9,000,01213,189,80,80,49,FF
2021-08-15T01:35:33.053Z,1628991333.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:35:33.053Z,1628991333.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:35:33.055Z,1628991333.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:35:33.481Z,1628991333.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:35:34.281Z,1628991334.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,01222,183,80,80,4B,FF
2021-08-15T01:35:34.282Z,1628991334.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:35:34.285Z,1628991334.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013534.33*5E

2021-08-15T01:35:34.754Z,1628991334.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.019989 m, bearing: 28.119482 deg, deltaT: 4.855689 s, approachRate: 0.185348 m/s, LOS rate: -3.844187 deg/s, posRepo size: 4
2021-08-15T01:35:34.761Z,1628991334.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.019989 m,
      bearing: 28.119482 deg,
      approachRate: 0.185348 m/s,
      LOS rate: -3.844187 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 144.796019 deg,
      new cmd heading: 149.656943 deg.

2021-08-15T01:35:37.135Z,1628991337.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:35:37.509Z,1628991337.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:35:37.509Z,1628991337.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:35:37.509Z,1628991337.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:35:37.510Z,1628991337.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:35:37.909Z,1628991337.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,01222,183,80,80,4B,FF
2021-08-15T01:35:37.909Z,1628991337.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:35:37.909Z,1628991337.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:35:37.911Z,1628991337.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:35:38.313Z,1628991338.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:35:39.129Z,1628991339.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFB,000,0121E,187,80,80,79,FF
2021-08-15T01:35:39.129Z,1628991339.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:35:39.132Z,1628991339.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013539.19*5B

2021-08-15T01:35:39.612Z,1628991339.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.779984 m, bearing: 72.776239 deg, deltaT: 4.817416 s, approachRate: -0.049820 m/s, LOS rate: 9.269857 deg/s, posRepo size: 4
2021-08-15T01:35:39.620Z,1628991339.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.779984 m,
      bearing: 72.776239 deg,
      approachRate: -0.049820 m/s,
      LOS rate: 9.269857 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 86.951013 deg,
      new cmd heading: 81.438909 deg.

2021-08-15T01:35:42.001Z,1628991342.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:35:42.354Z,1628991342.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:35:42.354Z,1628991342.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:35:42.354Z,1628991342.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:35:42.355Z,1628991342.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:35:42.758Z,1628991342.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFB,000,0121E,187,80,80,79,FF
2021-08-15T01:35:42.758Z,1628991342.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:35:42.759Z,1628991342.759 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:35:42.760Z,1628991342.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:35:43.157Z,1628991343.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:35:43.989Z,1628991343.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D7,000,0122C,18A,80,80,18,FF
2021-08-15T01:35:43.989Z,1628991343.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:35:43.992Z,1628991343.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013544.03*5A

2021-08-15T01:35:44.404Z,1628991344.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.619980 m, bearing: 28.439084 deg, deltaT: 4.922725 s, approachRate: 0.170636 m/s, LOS rate: -9.006628 deg/s, posRepo size: 4
2021-08-15T01:35:44.406Z,1628991344.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.619980 m,
      bearing: 28.439084 deg,
      approachRate: 0.170636 m/s,
      LOS rate: -9.006628 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 145.985315 deg,
      new cmd heading: 150.017771 deg.

2021-08-15T01:35:46.826Z,1628991346.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:35:47.198Z,1628991347.198 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:35:47.198Z,1628991347.198 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:35:47.198Z,1628991347.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:35:47.199Z,1628991347.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:35:47.633Z,1628991347.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D7,000,0122C,18A,80,80,18,FF
2021-08-15T01:35:47.633Z,1628991347.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:35:47.633Z,1628991347.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:35:47.634Z,1628991347.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:35:48.013Z,1628991348.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:35:48.809Z,1628991348.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2B,000,011FD,189,80,80,68,FF
2021-08-15T01:35:48.810Z,1628991348.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:35:49.237Z,1628991349.237 [Micromodem](INFO): Nmea in: $SNTTA,0.161608,,,,013548.95*4F

2021-08-15T01:35:49.272Z,1628991349.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.800003 m, bearing: 122.282311 deg, deltaT: 4.835157 s, approachRate: -0.583223 m/s, LOS rate: 19.408517 deg/s, posRepo size: 4
2021-08-15T01:35:49.273Z,1628991349.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.408517 deg/s. Setting heading cmd to target bearing of 122.282311deg and heading rate command to 0 deg/s.
2021-08-15T01:35:51.727Z,1628991351.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:35:52.045Z,1628991352.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:35:52.045Z,1628991352.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:35:52.045Z,1628991352.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:35:52.046Z,1628991352.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:35:52.445Z,1628991352.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2B,000,011FD,189,80,80,68,FF
2021-08-15T01:35:52.445Z,1628991352.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:35:52.445Z,1628991352.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:35:52.447Z,1628991352.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:35:52.858Z,1628991352.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:35:53.701Z,1628991353.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23B,000,011E7,189,80,80,37,FF
2021-08-15T01:35:53.702Z,1628991353.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:35:53.725Z,1628991353.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013553.72*5A

2021-08-15T01:35:54.119Z,1628991354.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.479996 m, bearing: 75.213442 deg, deltaT: 4.898195 s, approachRate: -0.269489 m/s, LOS rate: -9.609432 deg/s, posRepo size: 4
2021-08-15T01:35:54.121Z,1628991354.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.479996 m,
      bearing: 75.213442 deg,
      approachRate: -0.269489 m/s,
      LOS rate: -9.609432 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 122.282311 deg,
      new cmd heading: 122.282311 deg.

2021-08-15T01:35:56.379Z,1628991356.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:35:56.734Z,1628991356.734 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:35:56.734Z,1628991356.734 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:35:56.734Z,1628991356.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:35:56.734Z,1628991356.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:35:57.144Z,1628991357.144 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23B,000,011E7,189,80,80,37,FF
2021-08-15T01:35:57.144Z,1628991357.144 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:35:57.145Z,1628991357.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:35:57.146Z,1628991357.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:35:57.583Z,1628991357.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:35:58.374Z,1628991358.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,011B3,187,80,80,6C,FF
2021-08-15T01:35:58.374Z,1628991358.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:35:58.377Z,1628991358.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013558.42*52

2021-08-15T01:35:58.795Z,1628991358.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.360001 m, bearing: 134.430991 deg, deltaT: 4.611554 s, approachRate: -0.676560 m/s, LOS rate: 12.841127 deg/s, posRepo size: 4
2021-08-15T01:35:58.797Z,1628991358.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.841127 deg/s. Setting heading cmd to target bearing of 134.430991deg and heading rate command to 0 deg/s.
2021-08-15T01:36:01.214Z,1628991361.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:36:01.617Z,1628991361.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:36:01.617Z,1628991361.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:36:01.617Z,1628991361.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:36:01.618Z,1628991361.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:36:01.985Z,1628991361.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,011B3,187,80,80,6C,FF
2021-08-15T01:36:01.985Z,1628991361.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:36:01.986Z,1628991361.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:36:01.987Z,1628991361.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:36:02.396Z,1628991362.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:36:03.213Z,1628991363.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,01192,186,80,80,75,FF
2021-08-15T01:36:03.213Z,1628991363.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:36:03.217Z,1628991363.217 [Micromodem](INFO): Nmea in: $SNTTA,0.156992,,,,013603.26*43

2021-08-15T01:36:03.706Z,1628991363.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.379990 m, bearing: 128.015804 deg, deltaT: 4.811333 s, approachRate: -0.411531 m/s, LOS rate: -1.333349 deg/s, posRepo size: 4
2021-08-15T01:36:03.731Z,1628991363.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.379990 m,
      bearing: 128.015804 deg,
      approachRate: -0.411531 m/s,
      LOS rate: -1.333349 deg/s,
      cmd update: -5.333397 deg/s,
      cmd heading: 134.430991 deg,
      new cmd heading: 134.430991 deg.

2021-08-15T01:36:05.765Z,1628991365.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:36:06.025Z,1628991366.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:36:06.025Z,1628991366.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:36:06.025Z,1628991366.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:36:06.026Z,1628991366.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:36:06.437Z,1628991366.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,01192,186,80,80,75,FF
2021-08-15T01:36:06.437Z,1628991366.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:36:06.437Z,1628991366.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:36:06.439Z,1628991366.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:36:06.842Z,1628991366.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:36:07.685Z,1628991367.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC1,000,0116B,189,80,80,47,FF
2021-08-15T01:36:07.686Z,1628991367.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:36:07.696Z,1628991367.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013607.71*5B

2021-08-15T01:36:08.115Z,1628991368.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 230.039993 m, bearing: 130.582029 deg, deltaT: 4.561153 s, approachRate: -0.513027 m/s, LOS rate: 0.562626 deg/s, posRepo size: 4
2021-08-15T01:36:08.118Z,1628991368.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.039993 m,
      bearing: 130.582029 deg,
      approachRate: -0.513027 m/s,
      LOS rate: 0.562626 deg/s,
      cmd update: 2.250505 deg/s,
      cmd heading: 110.148185 deg,
      new cmd heading: 108.385348 deg.

2021-08-15T01:36:10.502Z,1628991370.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:36:10.869Z,1628991370.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:36:10.869Z,1628991370.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:36:10.869Z,1628991370.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:36:10.870Z,1628991370.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:36:11.293Z,1628991371.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC1,000,0116B,189,80,80,47,FF
2021-08-15T01:36:11.293Z,1628991371.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:36:11.293Z,1628991371.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:36:11.295Z,1628991371.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:36:11.725Z,1628991371.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:36:12.500Z,1628991372.500 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,01140,186,80,80,61,FF
2021-08-15T01:36:12.500Z,1628991372.500 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:36:12.503Z,1628991372.503 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013612.57*5B

2021-08-15T01:36:12.946Z,1628991372.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 227.459991 m, bearing: 134.786489 deg, deltaT: 4.726046 s, approachRate: -0.545911 m/s, LOS rate: 0.889636 deg/s, posRepo size: 4
2021-08-15T01:36:12.949Z,1628991372.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.459991 m,
      bearing: 134.786489 deg,
      approachRate: -0.545911 m/s,
      LOS rate: 0.889636 deg/s,
      cmd update: 3.558543 deg/s,
      cmd heading: 120.802555 deg,
      new cmd heading: 121.764095 deg.

2021-08-15T01:36:15.351Z,1628991375.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:36:15.777Z,1628991375.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:36:15.777Z,1628991375.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:36:15.777Z,1628991375.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:36:15.778Z,1628991375.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:36:16.122Z,1628991376.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,01140,186,80,80,61,FF
2021-08-15T01:36:16.123Z,1628991376.123 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:36:16.123Z,1628991376.123 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:36:16.126Z,1628991376.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:36:16.533Z,1628991376.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:36:17.355Z,1628991377.355 [Micromodem](INFO): Nmea in: $SNTTA,0.152349,,,,013617.40*4E

2021-08-15T01:36:18.200Z,1628991378.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:36:19.789Z,1628991379.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,61,FF
2021-08-15T01:36:19.789Z,1628991379.789 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,61,FF
2021-08-15T01:36:19.789Z,1628991379.789 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:36:21.010Z,1628991381.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:36:21.373Z,1628991381.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:36:21.373Z,1628991381.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:36:21.373Z,1628991381.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:36:21.374Z,1628991381.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:36:21.786Z,1628991381.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,61,FF
2021-08-15T01:36:21.786Z,1628991381.786 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:36:21.786Z,1628991381.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:36:21.789Z,1628991381.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:36:22.191Z,1628991382.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:36:23.021Z,1628991383.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,107,000,010DC,186,80,80,76,FF
2021-08-15T01:36:23.021Z,1628991383.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:36:23.024Z,1628991383.024 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013623.06*5D

2021-08-15T01:36:23.462Z,1628991383.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.459991 m, bearing: 131.527874 deg, deltaT: 10.557393 s, approachRate: -0.568322 m/s, LOS rate: -0.308657 deg/s, posRepo size: 4
2021-08-15T01:36:23.470Z,1628991383.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.459991 m,
      bearing: 131.527874 deg,
      approachRate: -0.568322 m/s,
      LOS rate: -0.308657 deg/s,
      cmd update: -1.234629 deg/s,
      cmd heading: 158.327691 deg,
      new cmd heading: 159.740884 deg.

2021-08-15T01:36:25.904Z,1628991385.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:36:26.233Z,1628991386.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:36:26.233Z,1628991386.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:36:26.233Z,1628991386.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:36:26.234Z,1628991386.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:36:26.633Z,1628991386.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
107,000,010DC,186,80,80,76,FF
2021-08-15T01:36:26.633Z,1628991386.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:36:26.633Z,1628991386.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:36:26.635Z,1628991386.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:36:27.036Z,1628991387.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:36:27.866Z,1628991387.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013627.91*57

2021-08-15T01:36:28.678Z,1628991388.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:36:30.266Z,1628991390.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,76,FF
2021-08-15T01:36:30.266Z,1628991390.266 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,76,FF
2021-08-15T01:36:30.266Z,1628991390.266 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:36:31.500Z,1628991391.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:36:31.877Z,1628991391.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:36:31.877Z,1628991391.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:36:31.877Z,1628991391.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:36:31.878Z,1628991391.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:36:32.277Z,1628991392.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,76,FF
2021-08-15T01:36:32.277Z,1628991392.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:36:32.278Z,1628991392.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:36:32.279Z,1628991392.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:36:32.714Z,1628991392.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:36:33.513Z,1628991393.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F4,000,01087,189,80,80,52,FF
2021-08-15T01:36:33.513Z,1628991393.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:36:33.517Z,1628991393.517 [Micromodem](INFO): Nmea in: $SNTTA,0.146341,,,,013633.56*42

2021-08-15T01:36:34.024Z,1628991394.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.359985 m, bearing: 121.557983 deg, deltaT: 10.507504 s, approachRate: -0.485368 m/s, LOS rate: -0.948835 deg/s, posRepo size: 4
2021-08-15T01:36:34.026Z,1628991394.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.359985 m,
      bearing: 121.557983 deg,
      approachRate: -0.485368 m/s,
      LOS rate: -0.948835 deg/s,
      cmd update: -3.795341 deg/s,
      cmd heading: 145.398026 deg,
      new cmd heading: 144.801748 deg.

2021-08-15T01:36:36.343Z,1628991396.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:36:36.741Z,1628991396.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:36:36.741Z,1628991396.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:36:36.741Z,1628991396.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:36:36.742Z,1628991396.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:36:37.137Z,1628991397.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F4,000,01087,189,80,80,52,FF
2021-08-15T01:36:37.137Z,1628991397.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:36:37.137Z,1628991397.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:36:37.139Z,1628991397.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:36:37.548Z,1628991397.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:36:38.361Z,1628991398.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,0104C,188,80,80,A1,FF
2021-08-15T01:36:38.361Z,1628991398.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:36:38.365Z,1628991398.365 [Micromodem](INFO): Nmea in: $SNTTA,0.145094,,,,013638.42*44

2021-08-15T01:36:38.803Z,1628991398.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 212.819992 m, bearing: 123.016966 deg, deltaT: 4.841791 s, approachRate: -0.731133 m/s, LOS rate: 0.301331 deg/s, posRepo size: 4
2021-08-15T01:36:38.809Z,1628991398.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.819992 m,
      bearing: 123.016966 deg,
      approachRate: -0.731133 m/s,
      LOS rate: 0.301331 deg/s,
      cmd update: 1.205325 deg/s,
      cmd heading: 126.857383 deg,
      new cmd heading: 125.410227 deg.

2021-08-15T01:36:41.207Z,1628991401.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:36:41.586Z,1628991401.586 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:36:41.587Z,1628991401.587 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:36:41.587Z,1628991401.587 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:36:41.588Z,1628991401.588 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:36:41.985Z,1628991401.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,0104C,188,80,80,A1,FF
2021-08-15T01:36:41.985Z,1628991401.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:36:41.985Z,1628991401.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:36:41.987Z,1628991401.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:36:42.398Z,1628991402.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:36:43.221Z,1628991403.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BC,000,0101D,186,80,80,A4,FF
2021-08-15T01:36:43.221Z,1628991403.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:36:43.243Z,1628991403.243 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013643.26*59

2021-08-15T01:36:43.686Z,1628991403.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.000000 m, bearing: 128.727127 deg, deltaT: 4.833478 s, approachRate: -0.583429 m/s, LOS rate: 1.181377 deg/s, posRepo size: 4
2021-08-15T01:36:43.715Z,1628991403.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.000000 m,
      bearing: 128.727127 deg,
      approachRate: -0.583429 m/s,
      LOS rate: 1.181377 deg/s,
      cmd update: 4.725509 deg/s,
      cmd heading: 132.687775 deg,
      new cmd heading: 133.196453 deg.

2021-08-15T01:36:46.071Z,1628991406.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:36:46.425Z,1628991406.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:36:46.425Z,1628991406.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:36:46.425Z,1628991406.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:36:46.426Z,1628991406.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:36:46.833Z,1628991406.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BC,000,0101D,186,80,80,A4,FF
2021-08-15T01:36:46.833Z,1628991406.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:36:46.833Z,1628991406.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:36:46.835Z,1628991406.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:36:47.268Z,1628991407.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:36:48.077Z,1628991408.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E6,000,00FEA,186,80,80,B0,FF
2021-08-15T01:36:48.077Z,1628991408.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:36:48.080Z,1628991408.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013648.11*56

2021-08-15T01:36:48.516Z,1628991408.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.939987 m, bearing: 128.935953 deg, deltaT: 4.897491 s, approachRate: -0.624812 m/s, LOS rate: 0.042639 deg/s, posRepo size: 4
2021-08-15T01:36:48.518Z,1628991408.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.939987 m,
      bearing: 128.935953 deg,
      approachRate: -0.624812 m/s,
      LOS rate: 0.042639 deg/s,
      cmd update: 0.170558 deg/s,
      cmd heading: 155.790732 deg,
      new cmd heading: 157.528231 deg.

2021-08-15T01:36:50.926Z,1628991410.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:36:51.309Z,1628991411.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:36:51.310Z,1628991411.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:36:51.310Z,1628991411.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:36:51.311Z,1628991411.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:36:51.741Z,1628991411.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E6,000,00FEA,186,80,80,B0,FF
2021-08-15T01:36:51.741Z,1628991411.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:36:51.741Z,1628991411.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:36:51.743Z,1628991411.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:36:52.125Z,1628991412.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:36:52.923Z,1628991412.923 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,00FBB,189,80,80,A3,FF
2021-08-15T01:36:52.925Z,1628991412.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:36:52.932Z,1628991412.932 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013653.02*5E

2021-08-15T01:36:53.379Z,1628991413.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.119995 m, bearing: 123.700026 deg, deltaT: 4.850070 s, approachRate: -0.581433 m/s, LOS rate: -1.079557 deg/s, posRepo size: 4
2021-08-15T01:36:53.381Z,1628991413.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.119995 m,
      bearing: 123.700026 deg,
      approachRate: -0.581433 m/s,
      LOS rate: -1.079557 deg/s,
      cmd update: -4.318228 deg/s,
      cmd heading: 156.618727 deg,
      new cmd heading: 156.680374 deg.

2021-08-15T01:36:55.868Z,1628991415.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:36:56.153Z,1628991416.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:36:56.153Z,1628991416.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:36:56.153Z,1628991416.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:36:56.154Z,1628991416.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:36:56.572Z,1628991416.572 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,00FBB,189,80,80,A3,FF
2021-08-15T01:36:56.573Z,1628991416.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:36:56.573Z,1628991416.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:36:56.583Z,1628991416.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:36:56.960Z,1628991416.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:36:57.801Z,1628991417.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,347,000,00F90,189,80,80,BD,FF
2021-08-15T01:36:57.801Z,1628991417.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:36:57.804Z,1628991417.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013657.86*56

2021-08-15T01:36:58.213Z,1628991418.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.539993 m, bearing: 119.151257 deg, deltaT: 4.894240 s, approachRate: -0.527151 m/s, LOS rate: -0.929413 deg/s, posRepo size: 4
2021-08-15T01:36:58.215Z,1628991418.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.539993 m,
      bearing: 119.151257 deg,
      approachRate: -0.527151 m/s,
      LOS rate: -0.929413 deg/s,
      cmd update: -3.717651 deg/s,
      cmd heading: 135.502396 deg,
      new cmd heading: 134.119078 deg.

2021-08-15T01:37:00.682Z,1628991420.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:01.005Z,1628991421.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:37:01.005Z,1628991421.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:37:01.006Z,1628991421.006 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:37:01.007Z,1628991421.007 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:37:01.405Z,1628991421.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
347,000,00F90,189,80,80,BD,FF
2021-08-15T01:37:01.405Z,1628991421.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:37:01.405Z,1628991421.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:37:01.407Z,1628991421.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:37:01.809Z,1628991421.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:37:02.629Z,1628991422.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C6,000,00F68,186,80,80,C1,FF
2021-08-15T01:37:02.629Z,1628991422.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:37:03.064Z,1628991423.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.139984 m, bearing: 124.949746 deg, deltaT: 4.760682 s, approachRate: -0.504131 m/s, LOS rate: 1.217996 deg/s, posRepo size: 4
2021-08-15T01:37:03.066Z,1628991423.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.139984 m,
      bearing: 124.949746 deg,
      approachRate: -0.504131 m/s,
      LOS rate: 1.217996 deg/s,
      cmd update: 4.871982 deg/s,
      cmd heading: 117.773025 deg,
      new cmd heading: 116.276934 deg.

2021-08-15T01:37:05.464Z,1628991425.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:05.841Z,1628991425.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:37:05.841Z,1628991425.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:37:05.841Z,1628991425.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:37:05.842Z,1628991425.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:37:06.358Z,1628991426.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C6,000,00F68,186,80,80,C1,FF
2021-08-15T01:37:06.358Z,1628991426.358 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:37:06.358Z,1628991426.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:37:06.359Z,1628991426.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:37:08.018Z,1628991428.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:09.195Z,1628991429.195 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:09.195Z,1628991429.195 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:09.195Z,1628991429.195 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:37:10.842Z,1628991430.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:11.209Z,1628991431.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:37:11.209Z,1628991431.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:37:11.209Z,1628991431.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:37:11.210Z,1628991431.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:37:11.629Z,1628991431.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:11.629Z,1628991431.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:37:11.629Z,1628991431.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:37:13.744Z,1628991433.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:14.437Z,1628991434.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:14.437Z,1628991434.437 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:14.437Z,1628991434.437 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:37:16.487Z,1628991436.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:16.865Z,1628991436.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:37:16.865Z,1628991436.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:37:16.865Z,1628991436.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:37:16.866Z,1628991436.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:37:17.261Z,1628991437.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:17.262Z,1628991437.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:37:17.262Z,1628991437.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:37:17.666Z,1628991437.666 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:37:19.295Z,1628991439.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:20.090Z,1628991440.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:20.090Z,1628991440.090 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:20.090Z,1628991440.090 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:37:21.813Z,1628991441.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:22.109Z,1628991442.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:37:22.109Z,1628991442.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:37:22.109Z,1628991442.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:37:22.110Z,1628991442.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:37:22.521Z,1628991442.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:22.522Z,1628991442.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:37:22.522Z,1628991442.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:37:24.597Z,1628991444.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:25.345Z,1628991445.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:25.345Z,1628991445.345 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:25.345Z,1628991445.345 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:37:27.388Z,1628991447.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:27.785Z,1628991447.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:37:27.785Z,1628991447.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:37:27.785Z,1628991447.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:37:27.786Z,1628991447.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:37:28.170Z,1628991448.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:28.170Z,1628991448.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:37:28.171Z,1628991448.171 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:37:28.594Z,1628991448.594 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-15T01:37:28.594Z,1628991448.594 [Micromodem] Hardware Fault, FailCount= 1
2021-08-15T01:37:28.594Z,1628991448.594 [Micromodem](ERROR): Hardware Fault
2021-08-15T01:37:28.646Z,1628991448.646 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T01:37:28.646Z,1628991448.646 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T01:37:28.646Z,1628991448.646 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T01:37:28.646Z,1628991448.646 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T01:37:28.647Z,1628991448.647 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T01:37:28.700Z,1628991448.700 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-15T01:37:29.033Z,1628991449.033 [Micromodem](INFO): Powering down
2021-08-15T01:37:29.423Z,1628991449.423 [Micromodem](FAULT): LCB 1 fault:  Software Overcurrent.
2021-08-15T01:37:29.940Z,1628991449.940 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-15T01:37:29.940Z,1628991449.940 [Micromodem] No Fault, FailCount= 1
2021-08-15T01:37:30.294Z,1628991450.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:31.037Z,1628991451.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:31.037Z,1628991451.037 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:31.038Z,1628991451.038 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:37:32.658Z,1628991452.658 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:37:32.658Z,1628991452.658 [Micromodem](INFO): Powering up
2021-08-15T01:37:32.658Z,1628991452.658 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-15T01:37:33.079Z,1628991453.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:33.469Z,1628991453.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:37:33.469Z,1628991453.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:37:33.470Z,1628991453.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:37:33.471Z,1628991453.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:37:33.865Z,1628991453.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:33.865Z,1628991453.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:37:33.865Z,1628991453.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:37:35.924Z,1628991455.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:36.701Z,1628991456.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:36.701Z,1628991456.701 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:36.701Z,1628991456.701 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:37:37.992Z,1628991457.992 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-15T01:37:37.992Z,1628991457.992 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-15T01:37:37.992Z,1628991457.992 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-15T01:37:38.080Z,1628991458.080 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-15T01:37:38.488Z,1628991458.488 [RDI_Pathfinder](INFO): Powering down
2021-08-15T01:37:38.535Z,1628991458.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:38.793Z,1628991458.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:37:38.793Z,1628991458.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:37:38.793Z,1628991458.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:37:38.794Z,1628991458.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:37:39.197Z,1628991459.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:39.197Z,1628991459.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:37:39.198Z,1628991459.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:37:39.256Z,1628991459.256 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-15T01:37:39.256Z,1628991459.256 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-15T01:37:41.258Z,1628991461.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:42.037Z,1628991462.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:42.037Z,1628991462.037 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:42.038Z,1628991462.038 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:37:43.888Z,1628991463.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:44.057Z,1628991464.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:37:44.057Z,1628991464.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:37:44.057Z,1628991464.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:37:44.058Z,1628991464.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:37:44.067Z,1628991464.067 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:37:44.445Z,1628991464.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:44.445Z,1628991464.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:37:44.445Z,1628991464.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:37:44.855Z,1628991464.855 [Micromodem](INFO): Nmea in: $CATMG,2021-08-15T01:37:44.235116Z,RTC,RTC*5A

2021-08-15T01:37:44.855Z,1628991464.855 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-15T01:37:44.235116Z,RTC,RTC*5A

2021-08-15T01:37:45.271Z,1628991465.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:37:45.284Z,1628991465.284 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-15T01:37:45.658Z,1628991465.658 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-15T01:37:45.658Z,1628991465.658 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-15T01:37:46.062Z,1628991466.062 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-15T01:37:46.062Z,1628991466.062 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-15T01:37:46.474Z,1628991466.474 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-15T01:37:46.475Z,1628991466.475 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-15T01:37:46.612Z,1628991466.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:46.874Z,1628991466.874 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-15T01:37:46.875Z,1628991466.875 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-15T01:37:47.274Z,1628991467.274 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-15T01:37:47.275Z,1628991467.275 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-15T01:37:47.682Z,1628991467.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:47.682Z,1628991467.682 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:47.682Z,1628991467.682 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:37:47.683Z,1628991467.683 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-15T01:37:47.683Z,1628991467.683 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-15T01:37:48.087Z,1628991468.087 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-15T01:37:48.087Z,1628991468.087 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-15T01:37:48.486Z,1628991468.486 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-15T01:37:48.486Z,1628991468.486 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,15,01,37,49*41

2021-08-15T01:37:48.906Z,1628991468.906 [Micromodem](INFO): Nmea in: $CACLK,2021,8,15,1,37,49*43

2021-08-15T01:37:48.908Z,1628991468.908 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-15T01:37:50Z*7B

2021-08-15T01:37:49.150Z,1628991469.150 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 064118612A0000005D00000400260000000000000000151D80030C5669C08C79985351031D52F7907A8CC63C1DE3015A9986CA56867C57CF18F6F200
2021-08-15T01:37:49.150Z,1628991469.150 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T01:37:49.238Z,1628991469.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:49.238Z,1628991469.238 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T01:37:49.238Z,1628991469.238 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T01:37:49.238Z,1628991469.238 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T01:37:49.239Z,1628991469.239 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T01:37:49.239Z,1628991469.239 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T01:37:49.345Z,1628991469.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:37:49.345Z,1628991469.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:37:49.345Z,1628991469.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:37:49.346Z,1628991469.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:37:49.358Z,1628991469.358 [Micromodem](INFO): Nmea in: $CATMG,2021-08-15T01:37:50.026092Z,USER_CMD,RTC*13

2021-08-15T01:37:49.358Z,1628991469.358 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-15T01:37:50.026092Z,USER_CMD,RTC*13

2021-08-15T01:37:49.360Z,1628991469.360 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T01:37:49.741Z,1628991469.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:49.741Z,1628991469.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:37:49.741Z,1628991469.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:37:49.743Z,1628991469.743 [Micromodem](INFO): Nmea in: $CADRQ,013750,1,10,0,64,1*76

2021-08-15T01:37:49.743Z,1628991469.743 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,064118612A0000005D00000400260000000000000000151D80030C5669C08C79985351031D52F7907A8CC63C1DE3015A9986CA56867C57CF18F6F200*4E

2021-08-15T01:37:50.146Z,1628991470.146 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T01:37:50.146Z,1628991470.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:37:50.150Z,1628991470.150 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T01:37:50.151Z,1628991470.151 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-15T01:37:51.783Z,1628991471.783 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T01:37:51.783Z,1628991471.783 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T01:37:51.785Z,1628991471.785 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,013751.040708,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5F

2021-08-15T01:37:51.785Z,1628991471.785 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,013751.040708,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5F

2021-08-15T01:37:51.863Z,1628991471.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:54.642Z,1628991474.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:55.404Z,1628991475.404 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.057982
2021-08-15T01:37:57.451Z,1628991477.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:37:57.825Z,1628991477.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:37:57.825Z,1628991477.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:37:57.825Z,1628991477.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:37:57.826Z,1628991477.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:37:58.241Z,1628991478.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,C1,FF
2021-08-15T01:37:58.241Z,1628991478.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:37:58.242Z,1628991478.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:38:00.276Z,1628991480.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:38:01.462Z,1628991481.462 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:38:01.860Z,1628991481.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:38:02.689Z,1628991482.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00F6C,185,80,80,98,FF
2021-08-15T01:38:02.689Z,1628991482.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:38:02.692Z,1628991482.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013802.74*55

2021-08-15T01:38:03.120Z,1628991483.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.379990 m, bearing: 324.789784 deg, deltaT: 60.102518 s, approachRate: 0.003993 m/s, LOS rate: -2.664780 deg/s, posRepo size: 4
2021-08-15T01:38:03.122Z,1628991483.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.379990 m,
      bearing: 324.789784 deg,
      approachRate: 0.003993 m/s,
      LOS rate: -2.664780 deg/s,
      cmd update: -10.659118 deg/s,
      cmd heading: 50.571452 deg,
      new cmd heading: 52.322248 deg.

2021-08-15T01:38:05.511Z,1628991485.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:38:05.905Z,1628991485.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:38:05.905Z,1628991485.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:38:05.906Z,1628991485.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:38:05.906Z,1628991485.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:38:06.309Z,1628991486.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00F6C,185,80,80,98,FF
2021-08-15T01:38:06.309Z,1628991486.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:38:06.309Z,1628991486.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:38:06.311Z,1628991486.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:38:06.713Z,1628991486.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:38:07.538Z,1628991487.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E99,000,00F99,185,80,80,8A,FF
2021-08-15T01:38:07.539Z,1628991487.539 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:38:07.542Z,1628991487.542 [Micromodem](INFO): Nmea in: $SNTTA,0.134265,,,,013807.59*46

2021-08-15T01:38:07.990Z,1628991487.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.080002 m, bearing: 1.425137 deg, deltaT: 4.851820 s, approachRate: 0.556495 m/s, LOS rate: 7.550847 deg/s, posRepo size: 4
2021-08-15T01:38:07.992Z,1628991487.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.080002 m,
      bearing: 1.425137 deg,
      approachRate: 0.556495 m/s,
      LOS rate: 7.550847 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 358.855596 deg,
      new cmd heading: 354.829147 deg.

2021-08-15T01:38:10.361Z,1628991490.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:38:10.753Z,1628991490.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:38:10.753Z,1628991490.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:38:10.754Z,1628991490.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:38:10.754Z,1628991490.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:38:11.170Z,1628991491.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E99,000,00F99,185,80,80,8A,FF
2021-08-15T01:38:11.170Z,1628991491.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:38:11.170Z,1628991491.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:38:11.177Z,1628991491.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:38:11.594Z,1628991491.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:38:12.413Z,1628991492.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,00FC2,186,80,80,7A,FF
2021-08-15T01:38:12.413Z,1628991492.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:38:12.416Z,1628991492.416 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013812.46*55

2021-08-15T01:38:12.843Z,1628991492.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.539978 m, bearing: 25.268923 deg, deltaT: 4.815199 s, approachRate: 0.510877 m/s, LOS rate: 4.951776 deg/s, posRepo size: 4
2021-08-15T01:38:12.845Z,1628991492.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.539978 m,
      bearing: 25.268923 deg,
      approachRate: 0.510877 m/s,
      LOS rate: 4.951776 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 56.689430 deg,
      new cmd heading: 61.626962 deg.

2021-08-15T01:38:15.246Z,1628991495.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:38:15.637Z,1628991495.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:38:15.637Z,1628991495.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:38:15.637Z,1628991495.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:38:15.638Z,1628991495.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:38:16.017Z,1628991496.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,00FC2,186,80,80,7A,FF
2021-08-15T01:38:16.017Z,1628991496.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:38:16.017Z,1628991496.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:38:16.019Z,1628991496.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:38:16.584Z,1628991496.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:38:16.917Z,1628991496.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,00FD2,187,80,80,83,FF
2021-08-15T01:38:16.917Z,1628991496.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:38:17.339Z,1628991497.339 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013817.30*51

2021-08-15T01:38:17.365Z,1628991497.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.499985 m, bearing: 359.269890 deg, deltaT: 4.538324 s, approachRate: 0.211533 m/s, LOS rate: -5.728772 deg/s, posRepo size: 4
2021-08-15T01:38:17.367Z,1628991497.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.499985 m,
      bearing: 359.269890 deg,
      approachRate: 0.211533 m/s,
      LOS rate: -5.728772 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 111.027003 deg,
      new cmd heading: 115.872459 deg.

2021-08-15T01:38:19.852Z,1628991499.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:38:20.137Z,1628991500.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:38:20.138Z,1628991500.138 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:38:20.138Z,1628991500.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:38:20.139Z,1628991500.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:38:20.555Z,1628991500.555 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D5,000,00FD2,187,80,80,83,FF
2021-08-15T01:38:20.555Z,1628991500.555 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:38:20.559Z,1628991500.559 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:38:20.565Z,1628991500.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:38:20.965Z,1628991500.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:38:20.976Z,1628991500.976 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T01:38:21.785Z,1628991501.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D90,000,00FD9,188,80,80,A5,FF
2021-08-15T01:38:21.786Z,1628991501.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:38:21.789Z,1628991501.789 [Micromodem](INFO): Nmea in: $SNTTA,0.139229,,,,013821.84*47

2021-08-15T01:38:22.222Z,1628991502.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.919983 m, bearing: 73.097941 deg, deltaT: 4.909052 s, approachRate: 0.085556 m/s, LOS rate: 15.039166 deg/s, posRepo size: 4
2021-08-15T01:38:22.223Z,1628991502.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.039166 deg/s. Setting heading cmd to target bearing of 73.097941deg and heading rate command to 0 deg/s.
2021-08-15T01:38:24.663Z,1628991504.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:38:24.999Z,1628991504.999 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:38:24.999Z,1628991504.999 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:38:24.999Z,1628991504.999 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:38:24.000Z,1628991505.000 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:38:25.401Z,1628991505.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D90,000,00FD9,188,80,80,A5,FF
2021-08-15T01:38:25.401Z,1628991505.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:38:25.401Z,1628991505.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:38:25.403Z,1628991505.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:38:25.805Z,1628991505.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:38:26.637Z,1628991506.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00FDA,189,80,80,72,FF
2021-08-15T01:38:26.638Z,1628991506.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:38:26.641Z,1628991506.641 [Micromodem](INFO): Nmea in: $SNTTA,0.138790,,,,013826.68*44

2021-08-15T01:38:27.055Z,1628991507.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.979996 m, bearing: 127.668994 deg, deltaT: 4.820490 s, approachRate: 0.012450 m/s, LOS rate: 11.320644 deg/s, posRepo size: 4
2021-08-15T01:38:27.057Z,1628991507.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.979996 m,
      bearing: 127.668994 deg,
      approachRate: 0.012450 m/s,
      LOS rate: 11.320644 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 73.097941 deg,
      new cmd heading: 73.097941 deg.

2021-08-15T01:38:29.451Z,1628991509.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:38:29.841Z,1628991509.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:38:29.842Z,1628991509.842 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:38:29.842Z,1628991509.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:38:29.843Z,1628991509.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:38:30.246Z,1628991510.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00FDA,189,80,80,72,FF
2021-08-15T01:38:30.246Z,1628991510.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:38:30.246Z,1628991510.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:38:30.247Z,1628991510.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:38:30.653Z,1628991510.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:38:31.474Z,1628991511.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CBF,000,00FB7,189,80,80,9D,FF
2021-08-15T01:38:31.474Z,1628991511.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:38:31.477Z,1628991511.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013831.52*51

2021-08-15T01:38:31.937Z,1628991511.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.879990 m, bearing: 125.068195 deg, deltaT: 4.794045 s, approachRate: -0.438045 m/s, LOS rate: -0.542506 deg/s, posRepo size: 4
2021-08-15T01:38:31.939Z,1628991511.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.879990 m,
      bearing: 125.068195 deg,
      approachRate: -0.438045 m/s,
      LOS rate: -0.542506 deg/s,
      cmd update: -2.170025 deg/s,
      cmd heading: 130.669515 deg,
      new cmd heading: 135.990651 deg.

2021-08-15T01:38:34.310Z,1628991514.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:38:34.696Z,1628991514.696 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:38:34.696Z,1628991514.696 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:38:34.696Z,1628991514.696 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:38:34.697Z,1628991514.697 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:38:35.091Z,1628991515.091 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CBF,000,00FB7,189,80,80,9D,FF
2021-08-15T01:38:35.091Z,1628991515.091 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:38:35.091Z,1628991515.091 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:38:35.093Z,1628991515.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:38:35.505Z,1628991515.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:38:35.899Z,1628991515.899 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20F,000,008B3,187,80,80,6B,FF
2021-08-15T01:38:35.899Z,1628991515.899 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:38:36.357Z,1628991516.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013836.37*55

2021-08-15T01:38:36.389Z,1628991516.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.120003 m, bearing: 75.741989 deg, deltaT: 4.488300 s, approachRate: -24.009087 m/s, LOS rate: -10.989953 deg/s, posRepo size: 4
2021-08-15T01:38:36.391Z,1628991516.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.120003 m,
      bearing: 75.741989 deg,
      approachRate: -24.009087 m/s,
      LOS rate: -10.989953 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 120.928781 deg,
      new cmd heading: 120.044233 deg.

2021-08-15T01:38:38.763Z,1628991518.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:38:39.131Z,1628991519.131 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:38:39.131Z,1628991519.131 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:38:39.131Z,1628991519.131 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:38:39.154Z,1628991519.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:38:39.535Z,1628991519.535 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20F,000,008B3,187,80,80,6B,FF
2021-08-15T01:38:39.535Z,1628991519.535 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:38:39.535Z,1628991519.535 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:38:39.538Z,1628991519.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:38:39.947Z,1628991519.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:38:40.780Z,1628991520.780 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,00F6C,186,80,80,97,FF
2021-08-15T01:38:40.781Z,1628991520.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:38:40.784Z,1628991520.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013840.81*59

2021-08-15T01:38:41.202Z,1628991521.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.379990 m, bearing: 129.463900 deg, deltaT: 4.840407 s, approachRate: 21.332914 m/s, LOS rate: 11.098635 deg/s, posRepo size: 4
2021-08-15T01:38:41.204Z,1628991521.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.379990 m,
      bearing: 129.463900 deg,
      approachRate: 21.332914 m/s,
      LOS rate: 11.098635 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 62.991747 deg,
      new cmd heading: 58.289211 deg.

2021-08-15T01:38:43.626Z,1628991523.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:38:43.992Z,1628991523.992 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:38:43.993Z,1628991523.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:38:43.995Z,1628991523.995 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:38:44.024Z,1628991524.024 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:38:44.387Z,1628991524.387 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,00F6C,186,80,80,97,FF
2021-08-15T01:38:44.387Z,1628991524.387 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:38:44.387Z,1628991524.387 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:38:44.390Z,1628991524.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:38:44.790Z,1628991524.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:38:45.629Z,1628991525.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,00F3E,187,80,80,A3,FF
2021-08-15T01:38:45.629Z,1628991525.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:38:45.632Z,1628991525.632 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013845.66*55

2021-08-15T01:38:46.054Z,1628991526.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.619980 m, bearing: 126.232401 deg, deltaT: 4.936552 s, approachRate: -0.559097 m/s, LOS rate: -0.654607 deg/s, posRepo size: 4
2021-08-15T01:38:46.056Z,1628991526.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.619980 m,
      bearing: 126.232401 deg,
      approachRate: -0.559097 m/s,
      LOS rate: -0.654607 deg/s,
      cmd update: -2.618426 deg/s,
      cmd heading: 122.275757 deg,
      new cmd heading: 125.924201 deg.

2021-08-15T01:38:48.465Z,1628991528.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:38:48.829Z,1628991528.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:38:48.829Z,1628991528.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:38:48.829Z,1628991528.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:38:48.830Z,1628991528.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:38:49.231Z,1628991529.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,00F3E,187,80,80,A3,FF
2021-08-15T01:38:49.231Z,1628991529.231 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:38:49.231Z,1628991529.231 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:38:49.233Z,1628991529.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:38:49.662Z,1628991529.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:38:50.051Z,1628991530.051 [Micromodem](INFO): Nmea in: A,0.131480,0.128910,,,013850.51*59

2021-08-15T01:38:50.052Z,1628991530.052 [Micromodem](ERROR): Response from modem failed NMEA checksum: A,0.131480,0.128910,,,013850.51*59
 expected 0
2021-08-15T01:38:50.445Z,1628991530.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F7,000,00F13,186,80,80,9A,FF
2021-08-15T01:38:50.446Z,1628991530.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:38:50.887Z,1628991530.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.039978 m, bearing: 71.551996 deg, deltaT: 4.708578 s, approachRate: -0.547936 m/s, LOS rate: -11.612934 deg/s, posRepo size: 4
2021-08-15T01:38:50.888Z,1628991530.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.612934 deg/s. Setting heading cmd to target bearing of 71.551996deg and heading rate command to 0 deg/s.
2021-08-15T01:38:53.299Z,1628991533.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:38:53.725Z,1628991533.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:38:53.725Z,1628991533.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:38:53.726Z,1628991533.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:38:53.727Z,1628991533.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:38:54.096Z,1628991534.096 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F7,000,00F13,186,80,80,9A,FF
2021-08-15T01:38:54.097Z,1628991534.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:38:54.097Z,1628991534.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:38:54.099Z,1628991534.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:38:54.489Z,1628991534.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:38:55.322Z,1628991535.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E09,000,00EE7,187,80,80,89,FF
2021-08-15T01:38:55.323Z,1628991535.323 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:38:55.330Z,1628991535.330 [Micromodem](INFO): Nmea in: $SNTTA,0.130162,,,,013855.38*46

2021-08-15T01:38:55.937Z,1628991535.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.399994 m, bearing: 134.320588 deg, deltaT: 4.904359 s, approachRate: -0.538293 m/s, LOS rate: 12.798531 deg/s, posRepo size: 4
2021-08-15T01:38:55.938Z,1628991535.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.798531 deg/s. Setting heading cmd to target bearing of 134.320588deg and heading rate command to 0 deg/s.
2021-08-15T01:38:58.206Z,1628991538.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:38:58.589Z,1628991538.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:38:58.589Z,1628991538.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:38:58.589Z,1628991538.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:38:58.590Z,1628991538.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:38:58.958Z,1628991538.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E09,000,00EE7,187,80,80,89,FF
2021-08-15T01:38:58.958Z,1628991538.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:38:58.958Z,1628991538.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:38:58.981Z,1628991538.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:38:59.385Z,1628991539.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:39:00.201Z,1628991540.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D76,000,00EB7,189,80,80,99,FF
2021-08-15T01:39:00.201Z,1628991540.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:39:00.208Z,1628991540.208 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013900.26*51

2021-08-15T01:39:00.634Z,1628991540.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.520004 m, bearing: 129.409764 deg, deltaT: 4.885829 s, approachRate: -0.589458 m/s, LOS rate: -1.005116 deg/s, posRepo size: 4
2021-08-15T01:39:00.652Z,1628991540.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.520004 m,
      bearing: 129.409764 deg,
      approachRate: -0.589458 m/s,
      LOS rate: -1.005116 deg/s,
      cmd update: -4.020463 deg/s,
      cmd heading: 134.320588 deg,
      new cmd heading: 134.320588 deg.

2021-08-15T01:39:03.026Z,1628991543.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:39:03.429Z,1628991543.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:39:03.429Z,1628991543.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:39:03.429Z,1628991543.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:39:03.430Z,1628991543.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:39:03.814Z,1628991543.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D76,000,00EB7,189,80,80,99,FF
2021-08-15T01:39:03.814Z,1628991543.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:39:03.814Z,1628991543.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:39:03.816Z,1628991543.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:39:04.240Z,1628991544.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:39:05.053Z,1628991545.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,00E8F,186,80,80,9B,FF
2021-08-15T01:39:05.053Z,1628991545.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:39:05.081Z,1628991545.081 [Micromodem](INFO): Nmea in: $SNTTA,0.126606,,,,013905.09*42

2021-08-15T01:39:05.464Z,1628991545.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.119995 m, bearing: 77.727068 deg, deltaT: 4.859907 s, approachRate: -0.493838 m/s, LOS rate: -10.634503 deg/s, posRepo size: 4
2021-08-15T01:39:05.466Z,1628991545.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.119995 m,
      bearing: 77.727068 deg,
      approachRate: -0.493838 m/s,
      LOS rate: -10.634503 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 114.749190 deg,
      new cmd heading: 113.323775 deg.

2021-08-15T01:39:07.912Z,1628991547.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:39:08.266Z,1628991548.266 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:39:08.266Z,1628991548.266 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:39:08.266Z,1628991548.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:39:08.267Z,1628991548.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:39:08.649Z,1628991548.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,00E8F,186,80,80,9B,FF
2021-08-15T01:39:08.649Z,1628991548.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:39:08.650Z,1628991548.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:39:08.651Z,1628991548.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:39:09.088Z,1628991549.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:39:09.470Z,1628991549.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,00E8F,186,80,80,9B,FF
2021-08-15T01:39:09.470Z,1628991549.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:39:09.905Z,1628991549.905 [Micromodem](INFO): Nmea in: $SNTTA,0.420590,,,,013909.93*42

2021-08-15T01:39:09.968Z,1628991549.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.119995 m, bearing: 132.804217 deg, deltaT: 4.379622 s, approachRate: 0.000000 m/s, LOS rate: 12.575777 deg/s, posRepo size: 4
2021-08-15T01:39:09.969Z,1628991549.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.575777 deg/s. Setting heading cmd to target bearing of 132.804217deg and heading rate command to 0 deg/s.
2021-08-15T01:39:12.347Z,1628991552.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:39:12.702Z,1628991552.702 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:39:12.702Z,1628991552.702 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:39:12.702Z,1628991552.702 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:39:12.703Z,1628991552.703 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:39:13.102Z,1628991553.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,00E8F,186,80,80,9B,FF
2021-08-15T01:39:13.102Z,1628991553.102 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:39:13.102Z,1628991553.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:39:13.106Z,1628991553.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:39:13.505Z,1628991553.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:39:13.916Z,1628991553.916 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26E,000,00E8F,186,80,80,9B,FF
2021-08-15T01:39:13.917Z,1628991553.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:39:14.354Z,1628991554.354 [Micromodem](INFO): Nmea in: $SNTTA,0.123242,,,,013914.38*41

2021-08-15T01:39:14.395Z,1628991554.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.119995 m, bearing: 72.742423 deg, deltaT: 4.526234 s, approachRate: 0.000000 m/s, LOS rate: -13.269706 deg/s, posRepo size: 4
2021-08-15T01:39:14.400Z,1628991554.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.269706 deg/s. Setting heading cmd to target bearing of 72.742423deg and heading rate command to 0 deg/s.
2021-08-15T01:39:16.790Z,1628991556.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:39:17.142Z,1628991557.142 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:39:17.143Z,1628991557.143 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:39:17.143Z,1628991557.143 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:39:17.148Z,1628991557.148 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:39:17.537Z,1628991557.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26E,000,00E8F,186,80,80,9B,FF
2021-08-15T01:39:17.537Z,1628991557.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:39:17.537Z,1628991557.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:39:17.539Z,1628991557.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:39:17.962Z,1628991557.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:39:18.350Z,1628991558.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB4,000,00E8F,186,80,80,9B,FF
2021-08-15T01:39:18.350Z,1628991558.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:39:18.802Z,1628991558.802 [Micromodem](INFO): Nmea in: $SNTTA,0.121813,,,,013918.81*43

2021-08-15T01:39:18.865Z,1628991558.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.119995 m, bearing: 132.938062 deg, deltaT: 4.399049 s, approachRate: 0.000000 m/s, LOS rate: 13.683785 deg/s, posRepo size: 4
2021-08-15T01:39:18.866Z,1628991558.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.683785 deg/s. Setting heading cmd to target bearing of 132.938062deg and heading rate command to 0 deg/s.
2021-08-15T01:39:21.246Z,1628991561.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:39:21.601Z,1628991561.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:39:21.602Z,1628991561.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:39:21.602Z,1628991561.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:39:21.603Z,1628991561.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:39:21.997Z,1628991561.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB4,000,00E8F,186,80,80,9B,FF
2021-08-15T01:39:21.997Z,1628991561.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:39:21.997Z,1628991561.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:39:21.999Z,1628991561.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:39:22.392Z,1628991562.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:39:23.221Z,1628991563.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BF8,000,00DF4,189,80,80,B4,FF
2021-08-15T01:39:23.222Z,1628991563.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:39:23.224Z,1628991563.224 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013923.27*51

2021-08-15T01:39:23.744Z,1628991563.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.819992 m, bearing: 135.389963 deg, deltaT: 4.819541 s, approachRate: -1.929645 m/s, LOS rate: 0.508742 deg/s, posRepo size: 4
2021-08-15T01:39:23.746Z,1628991563.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.819992 m,
      bearing: 135.389963 deg,
      approachRate: -1.929645 m/s,
      LOS rate: 0.508742 deg/s,
      cmd update: 2.034967 deg/s,
      cmd heading: 132.938062 deg,
      new cmd heading: 132.938062 deg.

2021-08-15T01:39:25.762Z,1628991565.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:39:26.037Z,1628991566.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:39:26.038Z,1628991566.038 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:39:26.038Z,1628991566.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:39:26.039Z,1628991566.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:39:26.444Z,1628991566.444 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BF8,000,00DF4,189,80,80,B4,FF
2021-08-15T01:39:26.445Z,1628991566.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:39:26.445Z,1628991566.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:39:26.446Z,1628991566.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:39:26.931Z,1628991566.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:39:27.333Z,1628991567.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC0,000,00DD2,189,80,80,BC,FF
2021-08-15T01:39:27.334Z,1628991567.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:39:27.785Z,1628991567.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013927.72*55

2021-08-15T01:39:27.831Z,1628991567.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.779999 m, bearing: 129.359685 deg, deltaT: 4.109873 s, approachRate: -0.496364 m/s, LOS rate: -1.467266 deg/s, posRepo size: 4
2021-08-15T01:39:27.853Z,1628991567.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.779999 m,
      bearing: 129.359685 deg,
      approachRate: -0.496364 m/s,
      LOS rate: -1.467266 deg/s,
      cmd update: -5.869065 deg/s,
      cmd heading: 141.304311 deg,
      new cmd heading: 142.280718 deg.

2021-08-15T01:39:30.200Z,1628991570.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:39:30.564Z,1628991570.564 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:39:30.564Z,1628991570.564 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:39:30.565Z,1628991570.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:39:30.566Z,1628991570.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:39:30.950Z,1628991570.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC0,000,00DD2,189,80,80,BC,FF
2021-08-15T01:39:30.950Z,1628991570.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:39:30.951Z,1628991570.951 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:39:30.953Z,1628991570.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:39:31.362Z,1628991571.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:39:31.782Z,1628991571.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,00DB0,189,80,80,BC,FF
2021-08-15T01:39:31.783Z,1628991571.783 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:39:32.209Z,1628991572.209 [Micromodem](INFO): Nmea in: $SNTTA,0.117287,,,,013932.23*41

2021-08-15T01:39:32.231Z,1628991572.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.739990 m, bearing: 77.993056 deg, deltaT: 4.527790 s, approachRate: -0.450553 m/s, LOS rate: -11.344746 deg/s, posRepo size: 4
2021-08-15T01:39:32.258Z,1628991572.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.739990 m,
      bearing: 77.993056 deg,
      approachRate: -0.450553 m/s,
      LOS rate: -11.344746 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 114.750798 deg,
      new cmd heading: 112.661082 deg.

2021-08-15T01:39:34.657Z,1628991574.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:39:34.989Z,1628991574.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:39:34.989Z,1628991574.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:39:34.989Z,1628991574.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:39:34.990Z,1628991574.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:39:35.386Z,1628991575.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,00DB0,189,80,80,BC,FF
2021-08-15T01:39:35.387Z,1628991575.387 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:39:35.387Z,1628991575.387 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:39:35.389Z,1628991575.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:39:35.810Z,1628991575.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:39:36.231Z,1628991576.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,00D85,186,80,80,A7,FF
2021-08-15T01:39:36.232Z,1628991576.232 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:39:36.655Z,1628991576.655 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013936.66*50

2021-08-15T01:39:36.705Z,1628991576.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.160004 m, bearing: 134.336325 deg, deltaT: 4.368782 s, approachRate: -0.590551 m/s, LOS rate: 12.896791 deg/s, posRepo size: 4
2021-08-15T01:39:36.706Z,1628991576.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.896791 deg/s. Setting heading cmd to target bearing of 134.336325deg and heading rate command to 0 deg/s.
2021-08-15T01:39:39.122Z,1628991579.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:39:39.437Z,1628991579.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:39:39.437Z,1628991579.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:39:39.437Z,1628991579.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:39:39.438Z,1628991579.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:39:39.837Z,1628991579.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,00D85,186,80,80,A7,FF
2021-08-15T01:39:39.837Z,1628991579.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:39:39.837Z,1628991579.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:39:39.839Z,1628991579.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:39:40.248Z,1628991580.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:39:40.650Z,1628991580.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,00D85,186,80,80,A7,FF
2021-08-15T01:39:40.650Z,1628991580.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:39:41.097Z,1628991581.097 [Micromodem](INFO): Nmea in: $SNTTA,0.114540,,,,013941.12*48

2021-08-15T01:39:41.113Z,1628991581.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.160004 m, bearing: 77.625640 deg, deltaT: 4.485011 s, approachRate: 0.000000 m/s, LOS rate: -12.644492 deg/s, posRepo size: 4
2021-08-15T01:39:41.114Z,1628991581.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.644492 deg/s. Setting heading cmd to target bearing of 77.625640deg and heading rate command to 0 deg/s.
2021-08-15T01:39:43.522Z,1628991583.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:39:43.877Z,1628991583.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:39:43.877Z,1628991583.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:39:43.877Z,1628991583.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:39:43.878Z,1628991583.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:39:44.289Z,1628991584.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,00D85,186,80,80,A7,FF
2021-08-15T01:39:44.289Z,1628991584.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:39:44.289Z,1628991584.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:39:44.291Z,1628991584.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:39:44.689Z,1628991584.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:39:45.101Z,1628991585.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE6,000,00D36,186,80,80,A7,FF
2021-08-15T01:39:45.102Z,1628991585.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:39:45.533Z,1628991585.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013945.57*56

2021-08-15T01:39:45.610Z,1628991585.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.419998 m, bearing: 133.847324 deg, deltaT: 4.410988 s, approachRate: -1.074590 m/s, LOS rate: 12.745825 deg/s, posRepo size: 4
2021-08-15T01:39:45.612Z,1628991585.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.745825 deg/s. Setting heading cmd to target bearing of 133.847324deg and heading rate command to 0 deg/s.
2021-08-15T01:39:48.002Z,1628991588.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:39:48.329Z,1628991588.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:39:48.329Z,1628991588.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:39:48.329Z,1628991588.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:39:48.330Z,1628991588.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:39:48.725Z,1628991588.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE6,000,00D36,186,80,80,A7,FF
2021-08-15T01:39:48.725Z,1628991588.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:39:48.726Z,1628991588.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:39:48.727Z,1628991588.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:39:49.157Z,1628991589.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:39:49.534Z,1628991589.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C41,000,00D14,186,80,80,A7,FF
2021-08-15T01:39:49.535Z,1628991589.535 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:39:49.973Z,1628991589.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013950.00*50

2021-08-15T01:39:50.056Z,1628991590.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.380005 m, bearing: 138.994746 deg, deltaT: 4.483467 s, approachRate: -0.455004 m/s, LOS rate: 1.148090 deg/s, posRepo size: 4
2021-08-15T01:39:50.058Z,1628991590.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.380005 m,
      bearing: 138.994746 deg,
      approachRate: -0.455004 m/s,
      LOS rate: 1.148090 deg/s,
      cmd update: 4.592358 deg/s,
      cmd heading: 133.847324 deg,
      new cmd heading: 133.847324 deg.

2021-08-15T01:39:52.391Z,1628991592.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:39:52.763Z,1628991592.763 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:39:52.763Z,1628991592.763 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:39:52.763Z,1628991592.763 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:39:52.764Z,1628991592.764 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:39:53.174Z,1628991593.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C41,000,00D14,186,80,80,A7,FF
2021-08-15T01:39:53.174Z,1628991593.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:39:53.174Z,1628991593.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:39:53.177Z,1628991593.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:39:53.241Z,1628991593.241 [lineCaptureDepth](INFO): Timed out from 2021-08-14T23:39:53.2Z
2021-08-15T01:39:53.242Z,1628991593.242 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-15T01:39:53.242Z,1628991593.242 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-15T01:39:53.242Z,1628991593.242 [lineCaptureDepth] Stopped
2021-08-15T01:39:53.243Z,1628991593.243 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-15T01:39:53.256Z,1628991593.256 [lineCaptureDepth:Science] Stopped
2021-08-15T01:39:53.256Z,1628991593.256 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-15T01:39:53.256Z,1628991593.256 [lineCaptureDepth:Science:B] Stopped
2021-08-15T01:39:53.256Z,1628991593.256 [lineCaptureDepth:Science:C] Stopped
2021-08-15T01:39:53.256Z,1628991593.256 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-15T01:39:53.257Z,1628991593.257 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-15T01:39:53.257Z,1628991593.257 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-15T01:39:53.257Z,1628991593.257 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-15T01:39:53.257Z,1628991593.257 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-15T01:39:53.258Z,1628991593.258 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-15T01:39:53.258Z,1628991593.258 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-15T01:39:53.258Z,1628991593.258 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-15T01:39:53.258Z,1628991593.258 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-15T01:39:53.259Z,1628991593.259 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-15T01:39:53.259Z,1628991593.259 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-15T01:39:53.259Z,1628991593.259 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-15T01:39:53.259Z,1628991593.259 [lineCaptureDepth:TrackAC.] Stopped
2021-08-15T01:39:53.259Z,1628991593.259 [lineCaptureDepth:LineCapture] Stopped
2021-08-15T01:39:53.264Z,1628991593.264 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-15T01:39:53.265Z,1628991593.265 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-15T01:39:53.265Z,1628991593.265 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-15T01:39:53.265Z,1628991593.265 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-15T01:39:53.265Z,1628991593.265 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-15T01:39:53.266Z,1628991593.266 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-15T01:39:53.266Z,1628991593.266 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-15T01:39:53.266Z,1628991593.266 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-15T01:39:53.266Z,1628991593.266 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-15T01:39:53.266Z,1628991593.266 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-15T01:39:53.267Z,1628991593.267 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-15T01:39:53.267Z,1628991593.267 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T01:39:53.267Z,1628991593.267 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T01:39:53.267Z,1628991593.267 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T01:39:53.267Z,1628991593.267 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T01:39:53.267Z,1628991593.267 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T01:39:53.280Z,1628991593.280 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T01:39:53.280Z,1628991593.280 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T01:39:53.280Z,1628991593.280 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-15T01:39:53.280Z,1628991593.280 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-15T01:39:53.280Z,1628991593.280 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-15T01:39:53.280Z,1628991593.280 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T01:39:53.281Z,1628991593.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-15T01:39:53.281Z,1628991593.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T01:39:53.281Z,1628991593.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-15T01:39:53.281Z,1628991593.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T01:39:53.281Z,1628991593.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-15T01:39:53.281Z,1628991593.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-15T01:39:53.281Z,1628991593.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-15T01:39:53.281Z,1628991593.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-15T01:39:53.281Z,1628991593.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T01:39:53.282Z,1628991593.282 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-15T01:39:53.282Z,1628991593.282 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T01:39:53.282Z,1628991593.282 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-15T01:39:53.282Z,1628991593.282 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T01:39:53.282Z,1628991593.282 [lineCaptureDepth:Lap] Stopped
2021-08-15T01:39:53.282Z,1628991593.282 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-15T01:39:53.282Z,1628991593.282 [lineCaptureDepth:Lap:B] Stopped
2021-08-15T01:39:53.282Z,1628991593.282 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-15T01:39:53.604Z,1628991593.604 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-15T01:39:53.631Z,1628991593.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:39:53.733Z,1628991593.733 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-15T01:39:53.733Z,1628991593.733 [DefaultWithUndock] Running Loop=1
2021-08-15T01:39:53.733Z,1628991593.733 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-15T01:39:53.734Z,1628991593.734 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-15T01:39:53.734Z,1628991593.734 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-15T01:39:54.406Z,1628991594.406 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013954.45*55

2021-08-15T01:40:23.941Z,1628991623.941 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-15T01:40:23.941Z,1628991623.941 [DefaultWithUndock:A.Wait] Stopped
2021-08-15T01:40:23.941Z,1628991623.941 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T01:40:23.942Z,1628991623.942 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-15T01:40:23.942Z,1628991623.942 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-15T01:40:23.942Z,1628991623.942 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-15T01:40:23.942Z,1628991623.942 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-15T01:40:23.942Z,1628991623.942 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-15T01:40:23.942Z,1628991623.942 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-15T01:40:23.942Z,1628991623.942 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T01:40:25.553Z,1628991625.553 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:32.788631
2021-08-15T01:40:26.787Z,1628991626.787 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T01:40:27.189Z,1628991627.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:40:27.189Z,1628991627.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:40:27.189Z,1628991627.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:40:27.190Z,1628991627.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:40:27.215Z,1628991627.215 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-15T01:40:27.580Z,1628991627.580 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C41,000,00D14,186,80,80,A7,FF
2021-08-15T01:40:27.581Z,1628991627.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:40:27.581Z,1628991627.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:40:27.589Z,1628991627.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:40:27.735Z,1628991627.735 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-15T01:40:27.980Z,1628991627.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:40:28.044Z,1628991628.044 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-15T01:40:28.369Z,1628991628.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,210,000,00D14,186,80,80,A7,FF
2021-08-15T01:40:28.370Z,1628991628.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:40:28.417Z,1628991628.417 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-15T01:40:28.793Z,1628991628.793 [Micromodem](INFO): Nmea in: $SNTTA,0.105198,,,,014028.87*44

2021-08-15T01:40:31.232Z,1628991631.232 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T01:40:31.625Z,1628991631.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:40:31.625Z,1628991631.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:40:31.625Z,1628991631.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:40:31.626Z,1628991631.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:40:32.009Z,1628991632.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
210,000,00D14,186,80,80,A7,FF
2021-08-15T01:40:32.009Z,1628991632.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:40:32.009Z,1628991632.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:40:32.011Z,1628991632.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:40:32.419Z,1628991632.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:40:33.250Z,1628991633.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014033.29*50

2021-08-15T01:40:34.064Z,1628991634.064 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T01:40:35.653Z,1628991635.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,A7,FF
2021-08-15T01:40:35.653Z,1628991635.653 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,A7,FF
2021-08-15T01:40:35.653Z,1628991635.653 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:40:36.875Z,1628991636.875 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T01:40:37.263Z,1628991637.263 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:40:37.263Z,1628991637.263 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:40:37.263Z,1628991637.263 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:40:37.264Z,1628991637.264 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:40:37.666Z,1628991637.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,A7,FF
2021-08-15T01:40:37.666Z,1628991637.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:40:37.667Z,1628991637.667 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:40:37.671Z,1628991637.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:40:38.069Z,1628991638.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:40:38.886Z,1628991638.886 [Micromodem](INFO): Nmea in: $SNTTA,0.117213,,,,014038.95*45

2021-08-15T01:40:39.769Z,1628991639.769 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T01:40:41.306Z,1628991641.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,A7,FF
2021-08-15T01:40:41.306Z,1628991641.306 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,A7,FF
2021-08-15T01:40:41.306Z,1628991641.306 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:40:42.521Z,1628991642.521 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T01:40:42.922Z,1628991642.922 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:40:42.922Z,1628991642.922 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:40:42.922Z,1628991642.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:40:42.923Z,1628991642.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:40:43.317Z,1628991643.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,A7,FF
2021-08-15T01:40:43.317Z,1628991643.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:40:43.317Z,1628991643.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:40:43.319Z,1628991643.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:40:43.764Z,1628991643.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:40:44.152Z,1628991644.152 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B7,000,00C70,189,80,80,2E,FF
2021-08-15T01:40:44.152Z,1628991644.152 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:40:44.560Z,1628991644.560 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014044.60*5D

2021-08-15T01:40:46.965Z,1628991646.965 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T01:40:47.353Z,1628991647.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:40:47.354Z,1628991647.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:40:47.354Z,1628991647.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:40:47.355Z,1628991647.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:40:47.765Z,1628991647.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B7,000,00C70,189,80,80,2E,FF
2021-08-15T01:40:47.766Z,1628991647.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:40:47.766Z,1628991647.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:40:47.767Z,1628991647.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:40:48.169Z,1628991648.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:40:48.584Z,1628991648.584 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D92,000,00C5E,189,80,80,5A,FF
2021-08-15T01:40:48.585Z,1628991648.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:40:48.629Z,1628991648.629 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 153.54 m. Transitioning DDM to standby.
2021-08-15T01:40:49.001Z,1628991649.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014049.04*52

2021-08-15T01:40:51.047Z,1628991651.047 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-15T01:40:51.412Z,1628991651.412 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-15T01:40:51.413Z,1628991651.413 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-15T01:40:51.413Z,1628991651.413 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T01:40:51.414Z,1628991651.414 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-15T01:40:51.414Z,1628991651.414 [DefaultWithUndock:LeaveDock] Stopped
2021-08-15T01:40:51.414Z,1628991651.414 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-15T01:40:51.414Z,1628991651.414 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-15T01:40:51.414Z,1628991651.414 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-15T01:40:51.414Z,1628991651.414 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-15T01:40:51.414Z,1628991651.414 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-15T01:40:51.414Z,1628991651.414 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-15T01:40:51.415Z,1628991651.415 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-15T01:40:51.415Z,1628991651.415 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-15T01:40:51.415Z,1628991651.415 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-15T01:40:51.415Z,1628991651.415 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-15T01:40:51.415Z,1628991651.415 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-15T01:40:51.415Z,1628991651.415 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-15T01:40:51.416Z,1628991651.416 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-15T01:40:51.417Z,1628991651.417 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-15T01:40:51.417Z,1628991651.417 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-15T01:40:52.500Z,1628991652.500 [Radio_Surface](INFO): Powering up
2021-08-15T01:40:57.905Z,1628991657.905 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T01:40:58.232Z,1628991658.232 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-15T01:41:23.754Z,1628991683.754 [PowerOnly](INFO): Powering down loadControl
2021-08-15T01:41:23.833Z,1628991683.833 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-15T01:41:23.833Z,1628991683.833 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T01:41:23.833Z,1628991683.833 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-15T01:41:23.833Z,1628991683.833 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-15T01:41:23.834Z,1628991683.834 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-15T01:41:23.834Z,1628991683.834 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-15T01:41:23.834Z,1628991683.834 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-15T01:41:37.836Z,1628991697.836 [NAL9602](INFO): SBD MO Status=0, MOMSN=23985, MT Status=0, MTMSN=0
2021-08-15T01:41:37.836Z,1628991697.836 [NAL9602](INFO): No messages in MT queue
2021-08-15T01:41:39.043Z,1628991699.043 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,014140.00,A,4133.23809,N,07042.49936,W,0.797,0.00,150821,,,A*7F
2021-08-15T01:41:39.046Z,1628991699.046 [NAL9602](INFO): GPS fix at 20210815T014140: (41.553968, -70.708323)
2021-08-15T01:41:39.105Z,1628991699.105 [UniversalFixResidualReporter](INFO): Fix residual: 11.4 %DT, over the last 1093.8 m. Residual distance 124.5 m at bearing -133.6 degrees. Fix at (41.5540, -70.7083) with 184.9 m made good.
2021-08-15T01:41:39.106Z,1628991699.106 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-15T01:41:39.107Z,1628991699.107 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-15T01:41:39.845Z,1628991699.845 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T01:41:47.768Z,1628991707.768 [NAL9602](INFO): SBD MO Status=1, MOMSN=23986, MT Status=0, MTMSN=0
2021-08-15T01:41:47.824Z,1628991707.824 [NAL9602](INFO): Sent 52 bytes from file Logs/20210814T221742/Courier0042.lzma
2021-08-15T01:41:47.824Z,1628991707.824 [NAL9602](INFO): Packets left to send: 0
2021-08-15T01:42:01.734Z,1628991721.734 [NAL9602](INFO): SBD MO Status=1, MOMSN=23987, MT Status=0, MTMSN=0
2021-08-15T01:42:01.792Z,1628991721.792 [NAL9602](INFO): Sent 88 bytes from file Logs/20210814T221742/Courier0045.lzma
2021-08-15T01:42:01.792Z,1628991721.792 [NAL9602](INFO): Packets left to send: 0
2021-08-15T01:42:13.812Z,1628991733.812 [NAL9602](INFO): SBD MO Status=1, MOMSN=23988, MT Status=0, MTMSN=0
2021-08-15T01:42:13.864Z,1628991733.864 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0025.lzma
2021-08-15T01:42:13.864Z,1628991733.864 [NAL9602](INFO): Packets left to send: 3
2021-08-15T01:42:32.791Z,1628991752.791 [NAL9602](INFO): SBD MO Status=1, MOMSN=23989, MT Status=0, MTMSN=0
2021-08-15T01:42:32.840Z,1628991752.840 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0025.lzma
2021-08-15T01:42:32.840Z,1628991752.840 [NAL9602](INFO): Packets left to send: 2
2021-08-15T01:42:44.122Z,1628991764.122 [NAL9602](INFO): SBD MO Status=1, MOMSN=23990, MT Status=0, MTMSN=0
2021-08-15T01:42:44.184Z,1628991764.184 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0025.lzma
2021-08-15T01:42:44.184Z,1628991764.184 [NAL9602](INFO): Packets left to send: 1
2021-08-15T01:42:54.179Z,1628991774.179 [NAL9602](INFO): SBD MO Status=1, MOMSN=23991, MT Status=0, MTMSN=0
2021-08-15T01:42:54.238Z,1628991774.238 [NAL9602](INFO): Sent 86 bytes from file Logs/20210814T221742/Express0025.lzma
2021-08-15T01:42:54.238Z,1628991774.238 [NAL9602](INFO): Packets left to send: 0
2021-08-15T01:43:05.141Z,1628991785.141 [NAL9602](INFO): SBD MO Status=1, MOMSN=23992, MT Status=0, MTMSN=0
2021-08-15T01:43:05.184Z,1628991785.184 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0028.lzma
2021-08-15T01:43:05.184Z,1628991785.184 [NAL9602](INFO): Packets left to send: 1
2021-08-15T01:43:14.138Z,1628991794.138 [NAL9602](INFO): SBD MO Status=1, MOMSN=23993, MT Status=0, MTMSN=0
2021-08-15T01:43:14.188Z,1628991794.188 [NAL9602](INFO): Sent 29 bytes from file Logs/20210814T221742/Express0028.lzma
2021-08-15T01:43:14.188Z,1628991794.188 [NAL9602](INFO): Packets left to send: 0
2021-08-15T01:43:26.357Z,1628991806.357 [NAL9602](INFO): SBD MO Status=1, MOMSN=23994, MT Status=0, MTMSN=0
2021-08-15T01:43:26.404Z,1628991806.404 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0034.lzma
2021-08-15T01:43:26.404Z,1628991806.404 [NAL9602](INFO): Packets left to send: 2
2021-08-15T01:43:38.905Z,1628991818.905 [NAL9602](INFO): SBD MO Status=1, MOMSN=23995, MT Status=0, MTMSN=0
2021-08-15T01:43:38.965Z,1628991818.965 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0034.lzma
2021-08-15T01:43:38.965Z,1628991818.965 [NAL9602](INFO): Packets left to send: 1
2021-08-15T01:43:48.932Z,1628991828.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T01:43:49.408Z,1628991829.408 [NAL9602](INFO): SBD MO Status=1, MOMSN=23996, MT Status=0, MTMSN=0
2021-08-15T01:43:49.456Z,1628991829.456 [NAL9602](INFO): Sent 164 bytes from file Logs/20210814T221742/Express0034.lzma
2021-08-15T01:43:49.456Z,1628991829.456 [NAL9602](INFO): Packets left to send: 0
2021-08-15T01:43:59.388Z,1628991839.388 [NAL9602](INFO): SBD MO Status=1, MOMSN=23997, MT Status=0, MTMSN=0
2021-08-15T01:43:59.444Z,1628991839.444 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0037.lzma
2021-08-15T01:43:59.444Z,1628991839.444 [NAL9602](INFO): Packets left to send: 3
2021-08-15T01:44:10.775Z,1628991850.775 [NAL9602](INFO): SBD MO Status=1, MOMSN=23998, MT Status=0, MTMSN=0
2021-08-15T01:44:10.824Z,1628991850.824 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0037.lzma
2021-08-15T01:44:10.824Z,1628991850.824 [NAL9602](INFO): Packets left to send: 2
2021-08-15T01:44:20.069Z,1628991860.069 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003101
2021-08-15T01:44:21.232Z,1628991861.232 [NAL9602](INFO): SBD MO Status=1, MOMSN=23999, MT Status=0, MTMSN=0
2021-08-15T01:44:21.280Z,1628991861.280 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0037.lzma
2021-08-15T01:44:21.280Z,1628991861.280 [NAL9602](INFO): Packets left to send: 1
2021-08-15T01:44:24.085Z,1628991864.085 [DataOverHttps](INFO): Sending 657 bytes from file Logs/20210814T221742/Express0037.lzma
2021-08-15T01:44:25.086Z,1628991865.086 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Express0037.lzma.bak
2021-08-15T01:44:25.086Z,1628991865.086 [DataOverHttps](INFO): SBD MOMSN=440061
2021-08-15T01:44:46.173Z,1628991886.173 [DataOverHttps](INFO): Sending 537 bytes from file Logs/20210814T221742/Express0040.lzma
2021-08-15T01:44:47.174Z,1628991887.174 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Express0040.lzma.bak
2021-08-15T01:44:47.174Z,1628991887.174 [DataOverHttps](INFO): SBD MOMSN=440074
2021-08-15T01:44:51.948Z,1628991891.948 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T01:44:59.232Z,1628991899.232 [DataOverHttps](INFO): Sending 252 bytes from file Logs/20210814T221742/Express0043.lzma
2021-08-15T01:45:00.234Z,1628991900.234 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Express0043.lzma.bak
2021-08-15T01:45:00.234Z,1628991900.234 [DataOverHttps](INFO): SBD MOMSN=440078
2021-08-15T01:45:10.276Z,1628991910.276 [DataOverHttps](INFO): Sending 238 bytes from file Logs/20210814T221742/Express0046.lzma
2021-08-15T01:45:12.282Z,1628991912.282 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Express0046.lzma.bak
2021-08-15T01:45:12.282Z,1628991912.282 [DataOverHttps](INFO): SBD MOMSN=440082
2021-08-15T01:45:13.818Z,1628991913.818 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-15T01:45:13.819Z,1628991913.819 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-15T01:45:13.819Z,1628991913.819 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-15T01:45:22.664Z,1628991922.664 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T01:45:22.665Z,1628991922.665 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T01:45:22.667Z,1628991922.667 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T01:45:23.058Z,1628991923.058 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815014522.853242,06,1316,25,0117,0150,208,02,02,01,02,-1,-01,-01,1,3,4,0,150,82.4,0.93,-100,2.07,-01,0.17,-12,14500,4000*55

2021-08-15T01:45:34.404Z,1628991934.404 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T01:45:34.404Z,1628991934.404 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T01:45:34.406Z,1628991934.406 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T01:45:34.766Z,1628991934.766 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815014534.867027,06,357,25,0126,0150,134,00,00,00,01,-1,-01,-01,1,3,1,0,150,-100.0,0.03,-100,2.97,-01,0.07,-2147483648,14500,4000*7C

2021-08-15T01:46:16.372Z,1628991976.372 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-15T01:46:16.377Z,1628991976.377 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815014614.855606,06,1473,25,0207,0150,74,00,00,01,00,4,-01,-01,2,3,1,0,150,6.3,-0.03,-100,3.03,-01,0.26,50,14500,4000*71

2021-08-15T01:47:10.511Z,1628992030.511 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T01:47:10.531Z,1628992030.531 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815014710.858512,06,701,22,0110,0150,134,01,01,01,01,-1,-01,-01,1,3,1,0,150,26.6,0.94,-100,2.06,-01,-0.69,53,14500,4000*60

2021-08-15T01:47:30.309Z,1628992050.309 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-15T01:47:30.314Z,1628992050.314 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815014728.862396,06,860,23,0093,0150,149,01,01,01,01,4,-01,-01,2,3,1,0,150,10.7,-346.37,-100,-305.99,-01,0.00,55,14500,4000*60

2021-08-15T01:47:36.370Z,1628992056.370 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T01:47:36.386Z,1628992056.386 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815014736.862456,06,200,16,0108,0150,208,02,02,01,02,-1,-01,-01,1,3,3,0,150,6.6,0.06,-100,2.94,-01,1.12,64,14500,4000*7D

2021-08-15T01:47:50.512Z,1628992070.512 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T01:47:50.512Z,1628992070.512 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T01:47:50.515Z,1628992070.515 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T01:47:50.922Z,1628992070.922 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815014750.860393,06,180,16,0136,0150,208,02,02,01,02,-1,-01,-01,1,3,6,0,150,76.2,2.06,-100,0.94,-01,-1.25,-12,14500,4000*44

2021-08-15T01:49:47.295Z,1628992187.295 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T01:49:47.296Z,1628992187.296 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T01:49:47.298Z,1628992187.298 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T01:49:47.728Z,1628992187.728 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815014944.854885,06,682,22,0099,0150,208,02,02,01,02,-1,-01,-01,1,3,6,0,150,82.2,5.71,-100,-2.71,-01,-2.91,-12,14500,4000*66

2021-08-15T01:49:59.434Z,1628992199.434 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T015000
2021-08-15T01:50:03.452Z,1628992203.452 [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" 2s52n 1 2
2021-08-15T01:50:03.545Z,1628992203.545 [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" 2s52n 1 2.000000
2021-08-15T01:50:03.546Z,1628992203.546 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2s52n
2021-08-15T01:50:03.547Z,1628992203.547 [CommandLine](IMPORTANT): Scheduled #20 (#1 of 2 with id='2s52n'): "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
2021-08-15T01:50:04.454Z,1628992204.454 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T015005
2021-08-15T01:50:08.472Z,1628992208.472 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2s52n 2 2
2021-08-15T01:50:08.490Z,1628992208.490 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2s52n 2 2.000000
2021-08-15T01:50:08.490Z,1628992208.490 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2s52n
2021-08-15T01:50:08.491Z,1628992208.491 [CommandLine](IMPORTANT): Scheduled #21 (#2 of 2 with id='2s52n'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-15T01:50:08.809Z,1628992208.809 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-15T01:50:08.810Z,1628992208.810 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-15T01:50:08.931Z,1628992208.931 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-15T01:50:08.934Z,1628992208.934 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-15T01:50:08.936Z,1628992208.936 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-15T01:50:08.939Z,1628992208.939 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-15T01:50:08.943Z,1628992208.943 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-15T01:50:08.946Z,1628992208.946 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-15T01:50:08.949Z,1628992208.949 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-15T01:50:08.951Z,1628992208.951 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-15T01:50:08.953Z,1628992208.953 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-15T01:50:08.956Z,1628992208.956 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-15T01:50:08.958Z,1628992208.958 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-15T01:50:08.961Z,1628992208.961 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-15T01:50:08.963Z,1628992208.963 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-15T01:50:08.966Z,1628992208.966 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-15T01:50:08.969Z,1628992208.969 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-15T01:50:08.969Z,1628992208.969 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-15T01:50:09.331Z,1628992209.331 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-15T01:50:09.333Z,1628992209.333 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-15T01:50:09.335Z,1628992209.335 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-15T01:50:09.338Z,1628992209.338 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-15T01:50:09.340Z,1628992209.340 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-15T01:50:09.342Z,1628992209.342 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-15T01:50:09.346Z,1628992209.346 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-15T01:50:09.349Z,1628992209.349 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-15T01:50:09.351Z,1628992209.351 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-15T01:50:09.354Z,1628992209.354 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-15T01:50:09.384Z,1628992209.384 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-15T01:50:09.386Z,1628992209.386 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-15T01:50:09.392Z,1628992209.392 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-15T01:50:09.394Z,1628992209.394 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-15T01:50:09.398Z,1628992209.398 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-15T01:50:09.425Z,1628992209.425 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-15T01:50:09.427Z,1628992209.427 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-15T01:50:09.434Z,1628992209.434 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-15T01:50:09.441Z,1628992209.441 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-15T01:50:09.456Z,1628992209.456 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-15T01:50:09.459Z,1628992209.459 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-15T01:50:09.465Z,1628992209.465 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-15T01:50:09.480Z,1628992209.480 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-15T01:50:09.482Z,1628992209.482 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-15T01:50:09.537Z,1628992209.537 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-15T01:50:09.539Z,1628992209.539 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-15T01:50:09.561Z,1628992209.561 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-15T01:50:09.564Z,1628992209.564 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-15T01:50:09.566Z,1628992209.566 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-15T01:50:09.595Z,1628992209.595 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-15T01:50:09.602Z,1628992209.602 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-15T01:50:09.605Z,1628992209.605 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-15T01:50:09.620Z,1628992209.620 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-15T01:50:09.623Z,1628992209.623 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-15T01:50:09.631Z,1628992209.631 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-15T01:50:09.637Z,1628992209.637 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-15T01:50:09.653Z,1628992209.653 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-15T01:50:09.671Z,1628992209.671 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-15T01:50:09.701Z,1628992209.701 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-15T01:50:09.713Z,1628992209.713 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-15T01:50:09.715Z,1628992209.715 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-15T01:50:09.718Z,1628992209.718 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-15T01:50:09.721Z,1628992209.721 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-15T01:50:09.723Z,1628992209.723 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-15T01:50:09.734Z,1628992209.734 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-15T01:50:09.737Z,1628992209.737 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-15T01:50:09.739Z,1628992209.739 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-15T01:50:09.756Z,1628992209.756 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-15T01:50:09.758Z,1628992209.758 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-15T01:50:09.777Z,1628992209.777 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-15T01:50:09.784Z,1628992209.784 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-15T01:50:09.786Z,1628992209.786 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-15T01:50:09.804Z,1628992209.804 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-15T01:50:09.807Z,1628992209.807 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-15T01:50:09.814Z,1628992209.814 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-15T01:50:09.829Z,1628992209.829 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-15T01:50:09.832Z,1628992209.832 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-15T01:50:09.838Z,1628992209.838 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-15T01:50:09.846Z,1628992209.846 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-15T01:50:09.852Z,1628992209.852 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-15T01:50:09.855Z,1628992209.855 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-15T01:50:09.862Z,1628992209.862 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-15T01:50:09.865Z,1628992209.865 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-15T01:50:09.867Z,1628992209.867 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-15T01:50:09.957Z,1628992209.957 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T01:50:10.006Z,1628992210.006 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-15T01:50:10.069Z,1628992210.069 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T01:50:10.091Z,1628992210.091 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T01:50:10.122Z,1628992210.122 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-15T01:50:10.151Z,1628992210.151 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T01:50:10.175Z,1628992210.175 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T01:50:10.199Z,1628992210.199 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-15T01:50:10.219Z,1628992210.219 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-15T01:50:10.247Z,1628992210.247 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-15T01:50:10.249Z,1628992210.249 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-15T01:50:10.264Z,1628992210.264 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-15T01:50:10.265Z,1628992210.265 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-15T01:50:10.271Z,1628992210.271 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-15T01:50:10.290Z,1628992210.290 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-15T01:50:10.299Z,1628992210.299 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-15T01:50:10.425Z,1628992210.425 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-15T01:50:10.432Z,1628992210.432 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-15T01:50:10.437Z,1628992210.437 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-15T01:50:10.439Z,1628992210.439 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-15T01:50:10.442Z,1628992210.442 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-15T01:50:10.448Z,1628992210.448 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-15T01:50:10.451Z,1628992210.451 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-15T01:50:10.466Z,1628992210.466 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-15T01:50:10.499Z,1628992210.499 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-15T01:50:10.537Z,1628992210.537 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-15T01:50:10.539Z,1628992210.539 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-15T01:50:10.552Z,1628992210.552 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-15T01:50:10.575Z,1628992210.575 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-15T01:50:10.825Z,1628992210.825 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-15T01:50:10.828Z,1628992210.828 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-15T01:50:10.830Z,1628992210.830 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-15T01:50:10.833Z,1628992210.833 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-15T01:50:10.836Z,1628992210.836 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-15T01:50:10.838Z,1628992210.838 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-15T01:50:10.841Z,1628992210.841 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-15T01:50:10.844Z,1628992210.844 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-15T01:50:10.847Z,1628992210.847 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-15T01:50:10.849Z,1628992210.849 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-15T01:50:10.852Z,1628992210.852 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-15T01:50:10.854Z,1628992210.854 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-15T01:50:10.857Z,1628992210.857 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-15T01:50:10.860Z,1628992210.860 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-15T01:50:10.862Z,1628992210.862 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-15T01:50:10.885Z,1628992210.885 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-15T01:50:10.888Z,1628992210.888 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-15T01:50:10.894Z,1628992210.894 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-15T01:50:10.899Z,1628992210.899 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-15T01:50:10.910Z,1628992210.910 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-15T01:50:10.916Z,1628992210.916 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-15T01:50:10.919Z,1628992210.919 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-15T01:50:10.929Z,1628992210.929 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-15T01:50:10.932Z,1628992210.932 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-15T01:50:10.934Z,1628992210.934 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-15T01:50:10.939Z,1628992210.939 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-15T01:50:10.955Z,1628992210.955 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-15T01:50:10.996Z,1628992210.996 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-15T01:50:10.999Z,1628992210.999 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-15T01:50:11.001Z,1628992211.001 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-15T01:50:11.003Z,1628992211.003 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-15T01:50:11.025Z,1628992211.025 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-15T01:50:11.040Z,1628992211.040 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-15T01:50:11.070Z,1628992211.070 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-15T01:50:11.081Z,1628992211.081 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-15T01:50:11.096Z,1628992211.096 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-15T01:50:11.096Z,1628992211.096 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T01:50:11.185Z,1628992211.185 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-15T01:50:11.197Z,1628992211.197 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-15T01:50:11.206Z,1628992211.206 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-15T01:50:11.237Z,1628992211.237 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-15T01:50:11.243Z,1628992211.243 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-15T01:50:11.259Z,1628992211.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-15T01:50:11.278Z,1628992211.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-15T01:50:11.291Z,1628992211.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-15T01:50:11.291Z,1628992211.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T01:50:11.310Z,1628992211.310 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-15T01:50:11.326Z,1628992211.326 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-15T01:50:11.347Z,1628992211.347 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-15T01:50:11.350Z,1628992211.350 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-15T01:50:11.354Z,1628992211.354 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-15T01:50:11.356Z,1628992211.356 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-15T01:50:11.362Z,1628992211.362 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-15T01:50:11.423Z,1628992211.423 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-15T01:50:11.423Z,1628992211.423 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-15T01:50:11.431Z,1628992211.431 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-15T01:50:11.431Z,1628992211.431 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T01:50:11.486Z,1628992211.486 [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>


2021-08-15T01:50:11.487Z,1628992211.487 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-15T01:50:14.408Z,1628992214.408 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-15T01:50:14.408Z,1628992214.408 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-15T01:50:14.408Z,1628992214.408 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T01:50:14.408Z,1628992214.408 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-15T01:50:14.819Z,1628992214.819 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-15T01:50:14.819Z,1628992214.819 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-15T01:50:15.197Z,1628992215.197 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 10.351421 min 
2021-08-15T01:50:15.197Z,1628992215.197 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-15T01:50:15.197Z,1628992215.197 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T01:50:15.197Z,1628992215.197 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-15T01:50:15.197Z,1628992215.197 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T01:50:15.197Z,1628992215.197 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-08-15T01:50:15.198Z,1628992215.198 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-08-15T01:50:15.198Z,1628992215.198 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T01:50:15.198Z,1628992215.198 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-15T01:50:17.194Z,1628992217.194 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,015018.00,A,4133.23252,N,07042.48077,W,0.233,151.21,150821,,,A*76
2021-08-15T01:50:17.197Z,1628992217.197 [NAL9602](INFO): GPS fix at 20210815T015018: (41.553875, -70.708013)
2021-08-15T01:50:17.240Z,1628992217.240 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-15T01:50:17.240Z,1628992217.240 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-15T01:50:22.528Z,1628992222.528 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20210814T221742/Courier0048.lzma
2021-08-15T01:50:22.571Z,1628992222.571 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T01:50:22.979Z,1628992222.979 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815015022.875517,06,216,23,0103,0150,82,03,03,00,03,-1,-01,-01,1,3,1,0,150,19.8,0.14,-100,2.86,-01,-1.73,48,14500,4000*50

2021-08-15T01:50:23.530Z,1628992223.530 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Courier0048.lzma.bak
2021-08-15T01:50:23.530Z,1628992223.530 [DataOverHttps](INFO): SBD MOMSN=440120
2021-08-15T01:50:26.309Z,1628992226.309 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 60.000000 minute
2021-08-15T01:50:26.310Z,1628992226.310 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-15T01:50:26.311Z,1628992226.311 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-15T01:50:26.312Z,1628992226.312 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-15T01:50:27.420Z,1628992227.420 [NAL9602](INFO): SBD MO Status=0, MOMSN=24000, MT Status=0, MTMSN=0
2021-08-15T01:50:27.421Z,1628992227.421 [NAL9602](INFO): No messages in MT queue
2021-08-15T01:50:29.883Z,1628992229.883 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T01:50:31.073Z,1628992231.073 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-15T01:50:31.462Z,1628992231.462 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815015028.857477,06,626,21,0092,0150,149,01,01,01,01,6,-01,-01,2,3,4,0,150,6.3,-3.81,00,6.81,-01,-1.64,55,14500,4000*4A

2021-08-15T01:50:32.567Z,1628992232.567 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T221742/Courier0051.lzma
2021-08-15T01:50:32.639Z,1628992232.639 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-15T01:50:32.640Z,1628992232.640 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-15T01:50:32.640Z,1628992232.640 [CommandLine](IMPORTANT): got command run
2021-08-15T01:50:32.642Z,1628992232.642 [CommandLine](IMPORTANT): Running 
2021-08-15T01:50:32.752Z,1628992232.752 [DefaultWithUndock] Stopped
2021-08-15T01:50:32.753Z,1628992232.753 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-15T01:50:32.753Z,1628992232.753 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-15T01:50:32.753Z,1628992232.753 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-15T01:50:32.753Z,1628992232.753 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-15T01:50:32.753Z,1628992232.753 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-15T01:50:32.753Z,1628992232.753 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-15T01:50:32.753Z,1628992232.753 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T01:50:32.753Z,1628992232.753 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-15T01:50:32.753Z,1628992232.753 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-15T01:50:32.754Z,1628992232.754 [lineCaptureDepth] Running Loop=1
2021-08-15T01:50:32.754Z,1628992232.754 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-15T01:50:32.754Z,1628992232.754 [lineCaptureDepth:Science] Running Loop=1
2021-08-15T01:50:32.754Z,1628992232.754 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-15T01:50:32.754Z,1628992232.754 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-15T01:50:32.754Z,1628992232.754 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-15T01:50:32.754Z,1628992232.754 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-15T01:50:32.754Z,1628992232.754 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-15T01:50:32.755Z,1628992232.755 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-15T01:50:32.755Z,1628992232.755 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-15T01:50:32.755Z,1628992232.755 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-15T01:50:32.755Z,1628992232.755 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-15T01:50:32.755Z,1628992232.755 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-15T01:50:32.755Z,1628992232.755 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T01:50:32.755Z,1628992232.755 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T01:50:32.757Z,1628992232.757 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-15T01:50:32.757Z,1628992232.757 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-15T01:50:32.757Z,1628992232.757 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-15T01:50:32.757Z,1628992232.757 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-15T01:50:32.758Z,1628992232.758 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-15T01:50:32.758Z,1628992232.758 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-15T01:50:32.758Z,1628992232.758 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T01:50:32.758Z,1628992232.758 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T01:50:32.759Z,1628992232.759 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-15T01:50:32.759Z,1628992232.759 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-15T01:50:32.759Z,1628992232.759 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T01:50:32.760Z,1628992232.760 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T01:50:32.761Z,1628992232.761 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-15T01:50:32.761Z,1628992232.761 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-15T01:50:32.761Z,1628992232.761 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-15T01:50:32.761Z,1628992232.761 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-15T01:50:32.762Z,1628992232.762 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-15T01:50:32.762Z,1628992232.762 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-15T01:50:32.762Z,1628992232.762 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T01:50:32.762Z,1628992232.762 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T01:50:32.763Z,1628992232.763 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-15T01:50:32.763Z,1628992232.763 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-15T01:50:32.764Z,1628992232.764 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T01:50:32.764Z,1628992232.764 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T01:50:32.765Z,1628992232.765 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-15T01:50:32.766Z,1628992232.766 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-15T01:50:32.766Z,1628992232.766 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-15T01:50:32.766Z,1628992232.766 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-15T01:50:32.766Z,1628992232.766 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-15T01:50:32.767Z,1628992232.767 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-15T01:50:32.767Z,1628992232.767 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-15T01:50:32.767Z,1628992232.767 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-15T01:50:32.767Z,1628992232.767 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-15T01:50:32.767Z,1628992232.767 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-15T01:50:32.767Z,1628992232.767 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T01:50:32.767Z,1628992232.767 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-15T01:50:32.767Z,1628992232.767 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T01:50:32.767Z,1628992232.767 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-15T01:50:32.768Z,1628992232.768 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T01:50:32.768Z,1628992232.768 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-15T01:50:32.768Z,1628992232.768 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T01:50:32.768Z,1628992232.768 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T01:50:32.768Z,1628992232.768 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T01:50:32.769Z,1628992232.769 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T01:50:32.769Z,1628992232.769 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T01:50:32.769Z,1628992232.769 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-15T01:50:32.769Z,1628992232.769 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-15T01:50:32.769Z,1628992232.769 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-15T01:50:32.769Z,1628992232.769 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T01:50:32.769Z,1628992232.769 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-15T01:50:32.769Z,1628992232.769 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-15T01:50:32.770Z,1628992232.770 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T01:50:32.770Z,1628992232.770 [lineCaptureDepth:C] Running Loop=1
2021-08-15T01:50:32.771Z,1628992232.771 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-15T01:50:32.771Z,1628992232.771 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T01:50:32.771Z,1628992232.771 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-15T01:50:32.772Z,1628992232.772 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T01:50:32.772Z,1628992232.772 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-15T01:50:32.772Z,1628992232.772 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-15T01:50:32.773Z,1628992232.773 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T01:50:32.774Z,1628992232.774 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-15T01:50:32.774Z,1628992232.774 [lineCaptureDepth:C] Stopped
2021-08-15T01:50:32.774Z,1628992232.774 [lineCaptureDepth:D] Running Loop=1
2021-08-15T01:50:32.774Z,1628992232.774 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-15T01:50:32.774Z,1628992232.774 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T01:50:32.775Z,1628992232.775 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T01:50:32.775Z,1628992232.775 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T01:50:32.775Z,1628992232.775 [lineCaptureDepth:Science] Running Loop=1
2021-08-15T01:50:32.777Z,1628992232.777 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-15T01:50:32.777Z,1628992232.777 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-15T01:50:32.777Z,1628992232.777 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-15T01:50:32.777Z,1628992232.777 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-15T01:50:32.777Z,1628992232.777 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-15T01:50:32.777Z,1628992232.777 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-15T01:50:32.777Z,1628992232.777 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-15T01:50:32.777Z,1628992232.777 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T01:50:32.778Z,1628992232.778 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-15T01:50:32.778Z,1628992232.778 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-15T01:50:32.778Z,1628992232.778 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-15T01:50:32.778Z,1628992232.778 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T01:50:32.778Z,1628992232.778 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-15T01:50:32.778Z,1628992232.778 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-15T01:50:32.778Z,1628992232.778 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-15T01:50:32.778Z,1628992232.778 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-15T01:50:32.778Z,1628992232.778 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-15T01:50:32.778Z,1628992232.778 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-15T01:50:32.779Z,1628992232.779 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-15T01:50:32.779Z,1628992232.779 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T01:50:32.779Z,1628992232.779 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-15T01:50:32.779Z,1628992232.779 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-15T01:50:32.779Z,1628992232.779 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-15T01:50:32.779Z,1628992232.779 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T01:50:32.779Z,1628992232.779 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-15T01:50:32.779Z,1628992232.779 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-15T01:50:32.779Z,1628992232.779 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-15T01:50:32.779Z,1628992232.779 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-15T01:50:32.779Z,1628992232.779 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-15T01:50:32.780Z,1628992232.780 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-15T01:50:32.780Z,1628992232.780 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-15T01:50:32.780Z,1628992232.780 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T01:50:32.780Z,1628992232.780 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-15T01:50:32.781Z,1628992232.781 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-15T01:50:32.782Z,1628992232.782 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-15T01:50:32.782Z,1628992232.782 [lineCaptureDepth:Science:F] Stopped
2021-08-15T01:50:32.782Z,1628992232.782 [lineCaptureDepth:Science:E] Stopped
2021-08-15T01:50:32.782Z,1628992232.782 [lineCaptureDepth:Science:D] Stopped
2021-08-15T01:50:32.782Z,1628992232.782 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-15T01:50:32.783Z,1628992232.783 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-15T01:50:32.783Z,1628992232.783 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-15T01:50:32.783Z,1628992232.783 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-15T01:50:32.800Z,1628992232.800 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-15T01:50:32.800Z,1628992232.800 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-15T01:50:32.801Z,1628992232.801 [lineCaptureDepth:Science:A] Stopped
2021-08-15T01:50:32.896Z,1628992232.896 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-15T01:50:33.105Z,1628992233.105 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T01:50:33.106Z,1628992233.106 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T01:50:33.106Z,1628992233.106 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T01:50:33.106Z,1628992233.106 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T01:50:33.106Z,1628992233.106 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T01:50:33.106Z,1628992233.106 [lineCaptureDepth:D] Stopped
2021-08-15T01:50:33.106Z,1628992233.106 [lineCaptureDepth:E] Running Loop=1
2021-08-15T01:50:33.492Z,1628992233.492 [lineCaptureDepth:E] Stopped
2021-08-15T01:50:33.493Z,1628992233.493 [lineCaptureDepth:G] Running Loop=1
2021-08-15T01:50:33.570Z,1628992233.570 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Courier0051.lzma.bak
2021-08-15T01:50:33.570Z,1628992233.570 [DataOverHttps](INFO): SBD MOMSN=440123
2021-08-15T01:50:33.965Z,1628992233.965 [lineCaptureDepth:G] Stopped
2021-08-15T01:50:33.965Z,1628992233.965 [lineCaptureDepth:H] Running Loop=1
2021-08-15T01:50:34.298Z,1628992234.298 [lineCaptureDepth:H] Stopped
2021-08-15T01:50:34.299Z,1628992234.299 [lineCaptureDepth:J] Running Loop=1
2021-08-15T01:50:34.747Z,1628992234.747 [lineCaptureDepth:J] Stopped
2021-08-15T01:50:34.747Z,1628992234.747 [lineCaptureDepth:M] Running Loop=1
2021-08-15T01:50:35.108Z,1628992235.108 [lineCaptureDepth:M] Stopped
2021-08-15T01:50:35.108Z,1628992235.108 [lineCaptureDepth:N] Running Loop=1
2021-08-15T01:50:35.531Z,1628992235.531 [lineCaptureDepth:N] Stopped
2021-08-15T01:50:35.531Z,1628992235.531 [lineCaptureDepth:O] Running Loop=1
2021-08-15T01:50:35.531Z,1628992235.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:50:35.917Z,1628992235.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:50:35.917Z,1628992235.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:50:35.917Z,1628992235.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:50:35.918Z,1628992235.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:50:36.099Z,1628992236.099 [lineCaptureDepth:O] Stopped
2021-08-15T01:50:36.099Z,1628992236.099 [lineCaptureDepth:Lap] Running Loop=1
2021-08-15T01:50:36.104Z,1628992236.104 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-15T01:50:36.104Z,1628992236.104 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-15T01:50:36.192Z,1628992236.192 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-15T01:50:36.328Z,1628992236.328 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D92,000,00C5E,189,80,80,5A,FF
2021-08-15T01:50:36.328Z,1628992236.328 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:50:36.328Z,1628992236.328 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:50:36.333Z,1628992236.333 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T01:50:36.334Z,1628992236.334 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T01:50:36.335Z,1628992236.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:50:36.453Z,1628992236.453 [lineCaptureDepth:Lap:A] Stopped
2021-08-15T01:50:36.453Z,1628992236.453 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-15T01:50:36.453Z,1628992236.453 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-15T01:50:36.727Z,1628992236.727 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T01:50:36.737Z,1628992236.737 [Micromodem](ERROR): Response from modem unexpected: $CAMSG,Bad Modulation Header,0*31

2021-08-15T01:50:36.745Z,1628992236.745 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815015036.675794,06,497,20,0125,0150,29,01,01,01,01,-1,-01,-01,1,3,1,0,150,-100.0,0.40,-100,2.60,-01,0.57,-2147483648,14500,4000*43

2021-08-15T01:50:36.746Z,1628992236.746 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20210815015036.675794,06,497,20,0125,0150,29,01,01,01,01,-1,-01,-01,1,3,1,0,150,-100.0,0.40,-100,2.60,-01,0.57,-2147483648,14500,4000*43

2021-08-15T01:50:36.768Z,1628992236.768 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-15T01:50:36.768Z,1628992236.768 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-15T01:50:36.768Z,1628992236.768 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-15T01:50:36.769Z,1628992236.769 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-15T01:50:36.769Z,1628992236.769 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T01:50:36.769Z,1628992236.769 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-15T01:50:36.769Z,1628992236.769 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T01:50:36.769Z,1628992236.769 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-15T01:50:36.769Z,1628992236.769 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T01:50:36.769Z,1628992236.769 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-15T01:50:36.769Z,1628992236.769 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-15T01:50:36.769Z,1628992236.769 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-15T01:50:36.770Z,1628992236.770 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T01:50:36.770Z,1628992236.770 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T01:50:36.770Z,1628992236.770 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T01:50:36.770Z,1628992236.770 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T01:50:36.770Z,1628992236.770 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T01:50:36.770Z,1628992236.770 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T01:50:36.770Z,1628992236.770 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T01:50:36.770Z,1628992236.770 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-15T01:50:36.771Z,1628992236.771 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T01:50:36.771Z,1628992236.771 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T01:50:36.771Z,1628992236.771 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T01:50:36.771Z,1628992236.771 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T01:50:36.771Z,1628992236.771 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T01:50:36.771Z,1628992236.771 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T01:50:36.771Z,1628992236.771 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T01:50:36.771Z,1628992236.771 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-15T01:50:36.772Z,1628992236.772 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-15T01:50:36.772Z,1628992236.772 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-15T01:50:36.772Z,1628992236.772 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T01:50:36.773Z,1628992236.773 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T01:50:36.773Z,1628992236.773 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T01:50:36.773Z,1628992236.773 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-15T01:50:36.774Z,1628992236.774 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-15T01:50:37.122Z,1628992237.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009A6,189,80,80,B8,FF
2021-08-15T01:50:37.123Z,1628992237.123 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:50:37.171Z,1628992237.171 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-15T01:50:37.171Z,1628992237.171 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-15T01:50:37.552Z,1628992237.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:50:37.637Z,1628992237.637 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-15T01:50:37.637Z,1628992237.637 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-15T01:50:38.014Z,1628992238.014 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-15T01:50:38.014Z,1628992238.014 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-15T01:50:38.363Z,1628992238.363 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-15T01:50:38.364Z,1628992238.364 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-15T01:50:38.364Z,1628992238.364 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-15T01:50:38.364Z,1628992238.364 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-15T01:50:38.364Z,1628992238.364 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T01:50:38.365Z,1628992238.365 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-15T01:50:38.365Z,1628992238.365 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T01:50:38.365Z,1628992238.365 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-15T01:50:38.365Z,1628992238.365 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-15T01:50:38.365Z,1628992238.365 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T01:50:38.365Z,1628992238.365 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T01:50:38.366Z,1628992238.366 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T01:50:38.366Z,1628992238.366 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-15T01:50:38.366Z,1628992238.366 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T01:50:38.366Z,1628992238.366 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T01:50:38.366Z,1628992238.366 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-15T01:50:38.366Z,1628992238.366 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T01:50:38.366Z,1628992238.366 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-15T01:50:38.367Z,1628992238.367 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-15T01:50:38.367Z,1628992238.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T01:50:38.367Z,1628992238.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T01:50:38.367Z,1628992238.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-15T01:50:38.367Z,1628992238.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T01:50:38.367Z,1628992238.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T01:50:38.367Z,1628992238.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-15T01:50:38.367Z,1628992238.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T01:50:38.368Z,1628992238.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T01:50:38.368Z,1628992238.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-15T01:50:38.792Z,1628992238.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-15T01:50:38.793Z,1628992238.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T01:50:38.793Z,1628992238.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-15T01:50:38.793Z,1628992238.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T01:50:38.793Z,1628992238.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-15T01:50:38.793Z,1628992238.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-15T01:50:38.793Z,1628992238.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-15T01:50:38.793Z,1628992238.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-15T01:50:38.793Z,1628992238.793 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-15T01:50:38.793Z,1628992238.793 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T01:50:38.793Z,1628992238.793 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-15T01:50:38.794Z,1628992238.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T01:50:38.794Z,1628992238.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-15T01:50:38.794Z,1628992238.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-15T01:50:38.794Z,1628992238.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-15T01:50:38.794Z,1628992238.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-15T01:50:38.794Z,1628992238.794 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-15T01:50:39.160Z,1628992239.160 [PowerOnly](INFO): Powering up loadControl
2021-08-15T01:50:39.806Z,1628992239.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:50:39.989Z,1628992239.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:50:39.989Z,1628992239.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:50:39.989Z,1628992239.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:50:39.990Z,1628992239.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:50:40.407Z,1628992240.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009A6,189,80,80,B8,FF
2021-08-15T01:50:40.407Z,1628992240.407 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:50:40.407Z,1628992240.407 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:50:40.409Z,1628992240.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:50:40.833Z,1628992240.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:50:41.345Z,1628992241.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009A4,189,80,80,A3,FF
2021-08-15T01:50:41.346Z,1628992241.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:50:41.785Z,1628992241.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015041.69*50

2021-08-15T01:50:41.855Z,1628992241.855 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-15T01:50:42.138Z,1628992242.138 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-15T01:50:44.117Z,1628992244.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:50:44.453Z,1628992244.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:50:44.453Z,1628992244.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:50:44.453Z,1628992244.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:50:44.454Z,1628992244.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:50:44.845Z,1628992244.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009A4,189,80,80,A3,FF
2021-08-15T01:50:44.845Z,1628992244.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:50:44.845Z,1628992244.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:50:44.847Z,1628992244.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:50:45.285Z,1628992245.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:50:45.666Z,1628992245.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009A1,189,80,80,98,FF
2021-08-15T01:50:45.669Z,1628992245.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:50:45.734Z,1628992245.734 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T01:50:46.109Z,1628992246.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015046.13*5A

2021-08-15T01:50:48.521Z,1628992248.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:50:48.889Z,1628992248.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:50:48.889Z,1628992248.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:50:48.889Z,1628992248.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:50:48.890Z,1628992248.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:50:49.314Z,1628992249.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009A1,189,80,80,98,FF
2021-08-15T01:50:49.314Z,1628992249.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:50:49.314Z,1628992249.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:50:49.345Z,1628992249.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:50:49.768Z,1628992249.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:50:50.530Z,1628992250.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015050.63*5A

2021-08-15T01:50:51.353Z,1628992251.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:50:51.775Z,1628992251.775 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T01:50:52.925Z,1628992252.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,98,FF
2021-08-15T01:50:52.925Z,1628992252.925 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,98,FF
2021-08-15T01:50:52.925Z,1628992252.925 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:50:54.198Z,1628992254.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:50:54.545Z,1628992254.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:50:54.545Z,1628992254.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:50:54.545Z,1628992254.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:50:54.546Z,1628992254.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:50:54.947Z,1628992254.947 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,98,FF
2021-08-15T01:50:54.947Z,1628992254.947 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:50:54.947Z,1628992254.947 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:50:54.950Z,1628992254.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:50:55.352Z,1628992255.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:50:55.777Z,1628992255.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0099E,189,80,80,A1,FF
2021-08-15T01:50:55.778Z,1628992255.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:50:56.213Z,1628992256.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015056.24*5F

2021-08-15T01:50:58.198Z,1628992258.198 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T01:50:58.609Z,1628992258.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:50:59.030Z,1628992259.030 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:50:59.031Z,1628992259.031 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:50:59.031Z,1628992259.031 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:50:59.068Z,1628992259.068 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:50:59.068Z,1628992259.068 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0099E,189,80,80,A1,FF
2021-08-15T01:50:59.068Z,1628992259.068 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:50:59.068Z,1628992259.068 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:50:59.070Z,1628992259.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:50:59.386Z,1628992259.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:50:59.790Z,1628992259.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0C,000,0099E,189,80,80,A1,FF
2021-08-15T01:50:59.790Z,1628992259.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:51:00.618Z,1628992260.618 [Micromodem](INFO): Nmea in: $SNTTA,0.081203,,,,015100.36*48

2021-08-15T01:51:02.275Z,1628992262.275 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 110.22 m. Transitioning DDM to standby.
2021-08-15T01:51:02.665Z,1628992262.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:51:03.021Z,1628992263.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:51:03.021Z,1628992263.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:51:03.021Z,1628992263.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:51:03.022Z,1628992263.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:51:03.437Z,1628992263.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0C,000,0099E,189,80,80,A1,FF
2021-08-15T01:51:03.437Z,1628992263.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:51:03.437Z,1628992263.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:51:03.439Z,1628992263.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:51:03.837Z,1628992263.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:51:04.236Z,1628992264.236 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0099E,189,80,80,A1,FF
2021-08-15T01:51:04.237Z,1628992264.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:51:04.751Z,1628992264.751 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015104.73*5B

2021-08-15T01:51:04.775Z,1628992264.775 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-15T01:51:05.090Z,1628992265.090 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-15T01:51:05.090Z,1628992265.090 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-15T01:51:05.090Z,1628992265.090 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-15T01:51:05.445Z,1628992265.445 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-15T01:51:05.446Z,1628992265.446 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-15T01:51:05.448Z,1628992265.448 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-15T01:51:05.925Z,1628992265.925 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-15T01:51:05.925Z,1628992265.925 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T01:51:05.925Z,1628992265.925 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-15T01:51:05.925Z,1628992265.925 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T01:51:05.925Z,1628992265.925 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T01:51:06.275Z,1628992266.275 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T01:51:06.276Z,1628992266.276 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T01:51:06.276Z,1628992266.276 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-15T01:51:06.276Z,1628992266.276 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T01:51:06.276Z,1628992266.276 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T01:51:06.276Z,1628992266.276 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-15T01:51:06.276Z,1628992266.276 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T01:51:06.276Z,1628992266.276 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-15T01:51:06.277Z,1628992266.277 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-15T01:51:06.277Z,1628992266.277 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T01:51:06.277Z,1628992266.277 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T01:51:06.278Z,1628992266.278 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T01:51:06.278Z,1628992266.278 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-15T01:51:06.278Z,1628992266.278 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T01:51:06.278Z,1628992266.278 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-15T01:51:06.279Z,1628992266.279 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 110.220001 m 
2021-08-15T01:51:06.279Z,1628992266.279 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-15T01:51:06.279Z,1628992266.279 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-15T01:51:06.280Z,1628992266.280 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-15T01:51:06.280Z,1628992266.280 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-15T01:51:06.281Z,1628992266.281 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-15T01:51:06.281Z,1628992266.281 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-15T01:51:06.674Z,1628992266.674 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-15T01:51:06.675Z,1628992266.675 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T01:51:06.675Z,1628992266.675 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-15T01:51:06.676Z,1628992266.676 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T01:51:06.677Z,1628992266.677 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T01:51:06.677Z,1628992266.677 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T01:51:06.677Z,1628992266.677 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T01:51:06.678Z,1628992266.678 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T01:51:06.678Z,1628992266.678 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T01:51:06.679Z,1628992266.679 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T01:51:06.679Z,1628992266.679 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T01:51:06.679Z,1628992266.679 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T01:51:06.680Z,1628992266.680 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T01:51:06.681Z,1628992266.681 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T01:51:06.682Z,1628992266.682 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T01:51:07.072Z,1628992267.072 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-15T01:51:07.073Z,1628992267.073 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T01:51:07.073Z,1628992267.073 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-15T01:51:07.074Z,1628992267.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T01:51:07.074Z,1628992267.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T01:51:07.074Z,1628992267.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-15T01:51:07.074Z,1628992267.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T01:51:07.074Z,1628992267.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T01:51:07.074Z,1628992267.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-15T01:51:07.075Z,1628992267.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T01:51:07.075Z,1628992267.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T01:51:07.075Z,1628992267.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-15T01:51:07.075Z,1628992267.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T01:51:07.075Z,1628992267.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T01:51:07.075Z,1628992267.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T01:51:07.076Z,1628992267.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T01:51:07.076Z,1628992267.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-15T01:51:07.077Z,1628992267.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-15T01:51:07.077Z,1628992267.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-15T01:51:07.077Z,1628992267.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-15T01:51:07.077Z,1628992267.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-15T01:51:07.077Z,1628992267.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T01:51:07.078Z,1628992267.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 420.00 sec.
2021-08-15T01:51:07.078Z,1628992267.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T01:51:07.078Z,1628992267.078 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-15T01:51:07.079Z,1628992267.079 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T01:51:07.079Z,1628992267.079 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-15T01:51:07.079Z,1628992267.079 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T01:51:07.079Z,1628992267.079 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-15T01:51:07.079Z,1628992267.079 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-15T01:51:07.079Z,1628992267.079 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-15T01:51:07.079Z,1628992267.079 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-15T01:51:07.079Z,1628992267.079 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-15T01:51:07.082Z,1628992267.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:51:07.437Z,1628992267.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:51:07.437Z,1628992267.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:51:07.438Z,1628992267.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:51:07.438Z,1628992267.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:51:07.508Z,1628992267.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.220001 m, bearing: 162.645314 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T01:51:07.509Z,1628992267.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 162.645314deg and heading rate command to 0 deg/s.
2021-08-15T01:51:07.843Z,1628992267.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0099E,189,80,80,A1,FF
2021-08-15T01:51:07.843Z,1628992267.843 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:51:07.843Z,1628992267.843 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:51:07.845Z,1628992267.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:51:08.405Z,1628992268.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:51:08.756Z,1628992268.756 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0099D,189,80,80,A9,FF
2021-08-15T01:51:08.757Z,1628992268.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:51:09.187Z,1628992269.187 [Micromodem](INFO): Nmea in: $SNTTA,0.080837,,,,015109.13*4A

2021-08-15T01:51:09.229Z,1628992269.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.160004 m, bearing: 161.745245 deg, deltaT: 4.580677 s, approachRate: -0.013098 m/s, LOS rate: -0.196492 deg/s, posRepo size: 2
2021-08-15T01:51:09.230Z,1628992269.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -0.196492 deg/s. Setting heading cmd to target bearing of 161.745245deg and heading rate command to 0 deg/s.
2021-08-15T01:51:11.599Z,1628992271.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:51:11.995Z,1628992271.995 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:51:11.996Z,1628992271.996 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:51:11.997Z,1628992271.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:51:11.998Z,1628992271.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:51:12.021Z,1628992272.021 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:51:12.401Z,1628992272.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0099D,189,80,80,A9,FF
2021-08-15T01:51:12.401Z,1628992272.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:51:12.401Z,1628992272.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:51:12.403Z,1628992272.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:51:12.807Z,1628992272.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:51:13.217Z,1628992273.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0099C,189,80,80,A2,FF
2021-08-15T01:51:13.218Z,1628992273.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:51:13.682Z,1628992273.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015113.69*56

2021-08-15T01:51:13.747Z,1628992273.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.099998 m, bearing: 163.682082 deg, deltaT: 4.436853 s, approachRate: -0.013524 m/s, LOS rate: 0.436534 deg/s, posRepo size: 3
2021-08-15T01:51:13.749Z,1628992273.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.099998 m,
      bearing: 163.682082 deg,
      approachRate: -0.013524 m/s,
      LOS rate: 0.436534 deg/s,
      cmd update: 1.746136 deg/s,
      cmd heading: 161.745245 deg,
      new cmd heading: 161.745245 deg.

2021-08-15T01:51:15.863Z,1628992275.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:51:16.158Z,1628992276.158 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:51:16.158Z,1628992276.158 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:51:16.158Z,1628992276.158 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:51:16.159Z,1628992276.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:51:16.554Z,1628992276.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0099C,189,80,80,A2,FF
2021-08-15T01:51:16.554Z,1628992276.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:51:16.554Z,1628992276.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:51:16.555Z,1628992276.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:51:16.960Z,1628992276.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:51:17.369Z,1628992277.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00996,189,80,80,96,FF
2021-08-15T01:51:17.369Z,1628992277.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:51:17.805Z,1628992277.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015117.84*51

2021-08-15T01:51:17.846Z,1628992277.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.739998 m, bearing: 159.207734 deg, deltaT: 4.141703 s, approachRate: -0.086921 m/s, LOS rate: -1.080316 deg/s, posRepo size: 4
2021-08-15T01:51:17.848Z,1628992277.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.739998 m,
      bearing: 159.207734 deg,
      approachRate: -0.086921 m/s,
      LOS rate: -1.080316 deg/s,
      cmd update: -4.321263 deg/s,
      cmd heading: 168.977212 deg,
      new cmd heading: 169.742246 deg.

2021-08-15T01:51:20.221Z,1628992280.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:51:20.589Z,1628992280.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:51:20.589Z,1628992280.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:51:20.589Z,1628992280.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:51:20.590Z,1628992280.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:51:20.997Z,1628992280.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00996,189,80,80,96,FF
2021-08-15T01:51:20.997Z,1628992280.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:51:20.997Z,1628992280.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:51:20.999Z,1628992280.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:51:21.396Z,1628992281.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:51:21.809Z,1628992281.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00989,189,80,80,AC,FF
2021-08-15T01:51:21.809Z,1628992281.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:51:22.246Z,1628992282.246 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015122.28*51

2021-08-15T01:51:22.268Z,1628992282.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.959999 m, bearing: 147.109885 deg, deltaT: 4.494373 s, approachRate: -0.173550 m/s, LOS rate: -2.691777 deg/s, posRepo size: 4
2021-08-15T01:51:22.270Z,1628992282.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.959999 m,
      bearing: 147.109885 deg,
      approachRate: -0.173550 m/s,
      LOS rate: -2.691777 deg/s,
      cmd update: -10.767108 deg/s,
      cmd heading: 149.555695 deg,
      new cmd heading: 147.975154 deg.

2021-08-15T01:51:24.717Z,1628992284.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:51:25.041Z,1628992285.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:51:25.041Z,1628992285.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:51:25.042Z,1628992285.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:51:25.042Z,1628992285.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:51:25.058Z,1628992285.058 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:51:25.445Z,1628992285.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00989,189,80,80,AC,FF
2021-08-15T01:51:25.445Z,1628992285.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:51:25.445Z,1628992285.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:51:25.447Z,1628992285.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:51:25.855Z,1628992285.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:51:26.245Z,1628992286.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00973,189,80,80,80,FF
2021-08-15T01:51:26.246Z,1628992286.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:51:26.703Z,1628992286.703 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015126.74*5C

2021-08-15T01:51:26.740Z,1628992286.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.639999 m, bearing: 130.008826 deg, deltaT: 4.393221 s, approachRate: -0.300463 m/s, LOS rate: -3.892602 deg/s, posRepo size: 4
2021-08-15T01:51:26.742Z,1628992286.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.639999 m,
      bearing: 130.008826 deg,
      approachRate: -0.300463 m/s,
      LOS rate: -3.892602 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 102.253810 deg,
      new cmd heading: 97.466830 deg.

2021-08-15T01:51:29.116Z,1628992289.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:51:29.477Z,1628992289.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:51:29.477Z,1628992289.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:51:29.477Z,1628992289.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:51:29.478Z,1628992289.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:51:29.886Z,1628992289.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00973,189,80,80,80,FF
2021-08-15T01:51:29.886Z,1628992289.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:51:29.886Z,1628992289.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:51:29.890Z,1628992289.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:51:29.968Z,1628992289.968 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T01:51:30.285Z,1628992290.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:51:30.701Z,1628992290.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,360,000,00952,189,80,80,AD,FF
2021-08-15T01:51:30.703Z,1628992290.703 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:51:31.134Z,1628992291.134 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015131.18*50

2021-08-15T01:51:31.161Z,1628992291.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.660004 m, bearing: 134.430991 deg, deltaT: 4.479361 s, approachRate: -0.442026 m/s, LOS rate: 0.987231 deg/s, posRepo size: 4
2021-08-15T01:51:31.165Z,1628992291.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.660004 m,
      bearing: 134.430991 deg,
      approachRate: -0.442026 m/s,
      LOS rate: 0.987231 deg/s,
      cmd update: 3.948925 deg/s,
      cmd heading: 48.500961 deg,
      new cmd heading: 43.872369 deg.

2021-08-15T01:51:33.538Z,1628992293.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:51:33.918Z,1628992293.918 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:51:33.919Z,1628992293.919 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:51:33.919Z,1628992293.919 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:51:33.921Z,1628992293.921 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:51:34.329Z,1628992294.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
360,000,00952,189,80,80,AD,FF
2021-08-15T01:51:34.329Z,1628992294.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:51:34.329Z,1628992294.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:51:34.331Z,1628992294.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:51:34.763Z,1628992294.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:51:34.787Z,1628992294.787 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T01:51:35.137Z,1628992295.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,267,000,0092A,189,80,80,A2,FF
2021-08-15T01:51:35.137Z,1628992295.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:51:35.566Z,1628992295.566 [Micromodem](INFO): Nmea in: $SNTTA,0.080301,,,,015135.62*4D

2021-08-15T01:51:35.622Z,1628992295.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.260010 m, bearing: 133.620084 deg, deltaT: 4.405731 s, approachRate: -0.544744 m/s, LOS rate: -0.184057 deg/s, posRepo size: 4
2021-08-15T01:51:35.630Z,1628992295.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.260010 m,
      bearing: 133.620084 deg,
      approachRate: -0.544744 m/s,
      LOS rate: -0.184057 deg/s,
      cmd update: -0.736230 deg/s,
      cmd heading: 65.815191 deg,
      new cmd heading: 67.644451 deg.

2021-08-15T01:51:38.069Z,1628992298.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:51:38.365Z,1628992298.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:51:38.365Z,1628992298.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:51:38.365Z,1628992298.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:51:38.366Z,1628992298.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:51:38.771Z,1628992298.771 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
267,000,0092A,189,80,80,A2,FF
2021-08-15T01:51:38.771Z,1628992298.771 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:51:38.771Z,1628992298.771 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:51:38.773Z,1628992298.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:51:39.175Z,1628992299.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:51:39.573Z,1628992299.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,143,000,00900,185,80,80,A0,FF
2021-08-15T01:51:39.573Z,1628992299.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:51:40.021Z,1628992300.021 [Micromodem](INFO): Nmea in: $SNTTA,0.089906,,,,015140.06*49

2021-08-15T01:51:40.041Z,1628992300.041 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:51:40.064Z,1628992300.064 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-15T01:51:40.064Z,1628992300.064 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-15T01:51:40.064Z,1628992300.064 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-15T01:51:40.112Z,1628992300.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.740005 m, bearing: 136.487411 deg, deltaT: 4.406558 s, approachRate: -0.571876 m/s, LOS rate: 0.650695 deg/s, posRepo size: 4
2021-08-15T01:51:40.114Z,1628992300.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.740005 m,
      bearing: 136.487411 deg,
      approachRate: -0.571876 m/s,
      LOS rate: 0.650695 deg/s,
      cmd update: 2.602782 deg/s,
      cmd heading: 62.552421 deg,
      new cmd heading: 62.171770 deg.

2021-08-15T01:51:40.264Z,1628992300.264 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-15T01:51:40.484Z,1628992300.484 [RDI_PathfinderUp](INFO): Powering down
2021-08-15T01:51:41.350Z,1628992301.350 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-15T01:51:41.350Z,1628992301.350 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-15T01:51:42.097Z,1628992302.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:51:42.405Z,1628992302.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:51:42.405Z,1628992302.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:51:42.406Z,1628992302.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:51:42.406Z,1628992302.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:51:42.813Z,1628992302.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
143,000,00900,185,80,80,A0,FF
2021-08-15T01:51:42.814Z,1628992302.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:51:42.814Z,1628992302.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:51:42.815Z,1628992302.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:51:43.224Z,1628992303.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:51:43.621Z,1628992303.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,008D4,185,80,80,91,FF
2021-08-15T01:51:43.622Z,1628992303.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:51:44.061Z,1628992304.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015144.10*5A

2021-08-15T01:51:44.130Z,1628992304.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.100006 m, bearing: 141.597376 deg, deltaT: 4.078178 s, approachRate: -0.647348 m/s, LOS rate: 1.253002 deg/s, posRepo size: 4
2021-08-15T01:51:44.136Z,1628992304.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.100006 m,
      bearing: 141.597376 deg,
      approachRate: -0.647348 m/s,
      LOS rate: 1.253002 deg/s,
      cmd update: 5.012008 deg/s,
      cmd heading: 73.099210 deg,
      new cmd heading: 74.366494 deg.

2021-08-15T01:51:46.480Z,1628992306.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:51:46.845Z,1628992306.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:51:46.845Z,1628992306.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:51:46.845Z,1628992306.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:51:46.846Z,1628992306.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:51:47.246Z,1628992307.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,008D4,185,80,80,91,FF
2021-08-15T01:51:47.246Z,1628992307.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:51:47.246Z,1628992307.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:51:47.247Z,1628992307.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:51:47.683Z,1628992307.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:51:48.053Z,1628992308.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,008A5,186,80,80,AC,FF
2021-08-15T01:51:48.054Z,1628992308.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:51:48.497Z,1628992308.497 [Micromodem](INFO): Nmea in: $SNTTA,0.099211,,,,015148.53*4D

2021-08-15T01:51:48.519Z,1628992308.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.279999 m, bearing: 139.895238 deg, deltaT: 4.448476 s, approachRate: -0.633927 m/s, LOS rate: -0.382634 deg/s, posRepo size: 4
2021-08-15T01:51:48.522Z,1628992308.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.279999 m,
      bearing: 139.895238 deg,
      approachRate: -0.633927 m/s,
      LOS rate: -0.382634 deg/s,
      cmd update: -1.530536 deg/s,
      cmd heading: 95.476993 deg,
      new cmd heading: 97.541639 deg.

2021-08-15T01:51:49.730Z,1628992309.730 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:51:50.904Z,1628992310.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:51:51.293Z,1628992311.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:51:51.293Z,1628992311.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:51:51.294Z,1628992311.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:51:51.295Z,1628992311.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:51:51.737Z,1628992311.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,008A5,186,80,80,AC,FF
2021-08-15T01:51:51.737Z,1628992311.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:51:51.737Z,1628992311.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:51:51.739Z,1628992311.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:51:52.125Z,1628992312.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:51:52.525Z,1628992312.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CAD,000,0087C,188,80,80,B1,FF
2021-08-15T01:51:52.525Z,1628992312.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:51:52.949Z,1628992312.949 [Micromodem](INFO): Nmea in: $SNTTA,0.061600,,,,015153.03*41

2021-08-15T01:51:52.973Z,1628992312.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.820000 m, bearing: 141.324851 deg, deltaT: 4.482873 s, approachRate: -0.548755 m/s, LOS rate: 0.318906 deg/s, posRepo size: 4
2021-08-15T01:51:52.975Z,1628992312.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.820000 m,
      bearing: 141.324851 deg,
      approachRate: -0.548755 m/s,
      LOS rate: 0.318906 deg/s,
      cmd update: 1.275622 deg/s,
      cmd heading: 88.609981 deg,
      new cmd heading: 88.042712 deg.

2021-08-15T01:51:55.369Z,1628992315.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:51:55.834Z,1628992315.834 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:51:55.834Z,1628992315.834 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:51:55.834Z,1628992315.834 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:51:55.835Z,1628992315.835 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:51:56.154Z,1628992316.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CAD,000,0087C,188,80,80,B1,FF
2021-08-15T01:51:56.154Z,1628992316.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:51:56.154Z,1628992316.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:51:56.157Z,1628992316.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:51:56.572Z,1628992316.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:51:56.961Z,1628992316.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B3E,000,00858,18A,80,80,AE,FF
2021-08-15T01:51:56.962Z,1628992316.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:51:57.405Z,1628992317.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015157.44*59

2021-08-15T01:51:57.428Z,1628992317.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.660004 m, bearing: 148.727219 deg, deltaT: 4.428488 s, approachRate: -0.487750 m/s, LOS rate: 1.671534 deg/s, posRepo size: 4
2021-08-15T01:51:57.430Z,1628992317.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.660004 m,
      bearing: 148.727219 deg,
      approachRate: -0.487750 m/s,
      LOS rate: 1.671534 deg/s,
      cmd update: 6.686135 deg/s,
      cmd heading: 94.251028 deg,
      new cmd heading: 94.775446 deg.

2021-08-15T01:51:59.005Z,1628992319.005 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T01:51:59.826Z,1628992319.826 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T01:51:59.853Z,1628992319.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:52:00.209Z,1628992320.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:52:00.209Z,1628992320.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:52:00.209Z,1628992320.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:52:00.210Z,1628992320.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:52:00.605Z,1628992320.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B3E,000,00858,18A,80,80,AE,FF
2021-08-15T01:52:00.605Z,1628992320.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:52:00.605Z,1628992320.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:52:00.607Z,1628992320.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:52:01.004Z,1628992321.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:52:01.413Z,1628992321.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0083F,189,80,80,B5,FF
2021-08-15T01:52:01.414Z,1628992321.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:52:01.849Z,1628992321.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015201.90*50

2021-08-15T01:52:01.897Z,1628992321.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.160004 m, bearing: 150.492741 deg, deltaT: 4.401946 s, approachRate: -0.340758 m/s, LOS rate: 0.401078 deg/s, posRepo size: 4
2021-08-15T01:52:01.899Z,1628992321.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.160004 m,
      bearing: 150.492741 deg,
      approachRate: -0.340758 m/s,
      LOS rate: 0.401078 deg/s,
      cmd update: 1.604310 deg/s,
      cmd heading: 123.764458 deg,
      new cmd heading: 126.883487 deg.

2021-08-15T01:52:04.262Z,1628992324.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:52:04.652Z,1628992324.652 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:52:04.653Z,1628992324.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:52:04.653Z,1628992324.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:52:04.654Z,1628992324.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:52:05.049Z,1628992325.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0083F,189,80,80,B5,FF
2021-08-15T01:52:05.049Z,1628992325.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:52:05.049Z,1628992325.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:52:05.051Z,1628992325.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:52:05.461Z,1628992325.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:52:05.478Z,1628992325.478 [Micromodem](INFO): Nmea in: 0,0.067464,,,015206.34*55

2021-08-15T01:52:05.479Z,1628992325.479 [Micromodem](ERROR): Response from modem failed NMEA checksum: 0,0.067464,,,015206.34*55
 expected 0
2021-08-15T01:52:05.864Z,1628992325.864 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BFC,000,0081F,189,80,80,B1,FF
2021-08-15T01:52:05.865Z,1628992325.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:52:06.346Z,1628992326.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.239998 m, bearing: 147.793723 deg, deltaT: 4.571823 s, approachRate: -0.419965 m/s, LOS rate: -0.590359 deg/s, posRepo size: 4
2021-08-15T01:52:06.348Z,1628992326.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.239998 m,
      bearing: 147.793723 deg,
      approachRate: -0.419965 m/s,
      LOS rate: -0.590359 deg/s,
      cmd update: -2.361437 deg/s,
      cmd heading: 131.099131 deg,
      new cmd heading: 131.650406 deg.

2021-08-15T01:52:08.766Z,1628992328.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:52:09.137Z,1628992329.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:52:09.137Z,1628992329.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:52:09.137Z,1628992329.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:52:09.138Z,1628992329.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:52:09.533Z,1628992329.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BFC,000,0081F,189,80,80,B1,FF
2021-08-15T01:52:09.533Z,1628992329.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:52:09.533Z,1628992329.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:52:09.535Z,1628992329.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:52:09.970Z,1628992329.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:52:10.354Z,1628992330.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBE,000,007F3,189,80,80,AB,FF
2021-08-15T01:52:10.354Z,1628992330.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:52:10.801Z,1628992330.801 [Micromodem](INFO): Nmea in: $SNTTA,0.079413,,,,015210.82*45

2021-08-15T01:52:10.803Z,1628992330.803 [PowerOnly](INFO): Powering down loadControl
2021-08-15T01:52:10.823Z,1628992330.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.599998 m, bearing: 151.590994 deg, deltaT: 4.419624 s, approachRate: -0.597336 m/s, LOS rate: 0.859184 deg/s, posRepo size: 4
2021-08-15T01:52:10.826Z,1628992330.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.599998 m,
      bearing: 151.590994 deg,
      approachRate: -0.597336 m/s,
      LOS rate: 0.859184 deg/s,
      cmd update: 3.436737 deg/s,
      cmd heading: 120.690811 deg,
      new cmd heading: 119.714643 deg.

2021-08-15T01:52:13.232Z,1628992333.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:52:13.601Z,1628992333.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:52:13.601Z,1628992333.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:52:13.601Z,1628992333.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:52:13.602Z,1628992333.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:52:14.017Z,1628992334.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBE,000,007F3,189,80,80,AB,FF
2021-08-15T01:52:14.018Z,1628992334.018 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:52:14.018Z,1628992334.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:52:14.020Z,1628992334.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:52:14.413Z,1628992334.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:52:14.809Z,1628992334.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,007C4,184,80,80,B0,FF
2021-08-15T01:52:14.809Z,1628992334.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:52:14.813Z,1628992334.813 [Micromodem](INFO): Nmea in: $SNTTA,0.211482,0.211238,,,015215.31*59

2021-08-15T01:52:15.263Z,1628992335.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.780006 m, bearing: 148.843564 deg, deltaT: 4.450723 s, approachRate: -0.633603 m/s, LOS rate: -0.617300 deg/s, posRepo size: 4
2021-08-15T01:52:15.266Z,1628992335.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.780006 m,
      bearing: 148.843564 deg,
      approachRate: -0.633603 m/s,
      LOS rate: -0.617300 deg/s,
      cmd update: -2.469199 deg/s,
      cmd heading: 135.999642 deg,
      new cmd heading: 137.370226 deg.

2021-08-15T01:52:17.727Z,1628992337.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:52:18.037Z,1628992338.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:52:18.038Z,1628992338.038 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:52:18.038Z,1628992338.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:52:18.039Z,1628992338.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:52:18.437Z,1628992338.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,007C4,184,80,80,B0,FF
2021-08-15T01:52:18.437Z,1628992338.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:52:18.437Z,1628992338.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:52:18.439Z,1628992338.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:52:18.849Z,1628992338.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:52:19.249Z,1628992339.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,00791,185,80,80,A4,FF
2021-08-15T01:52:19.250Z,1628992339.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:52:19.729Z,1628992339.729 [Micromodem](INFO): Nmea in: $SNTTA,0.095342,,,,015219.73*43

2021-08-15T01:52:19.789Z,1628992339.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.720009 m, bearing: 141.775398 deg, deltaT: 4.393875 s, approachRate: -0.696423 m/s, LOS rate: -1.608641 deg/s, posRepo size: 4
2021-08-15T01:52:19.791Z,1628992339.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.720009 m,
      bearing: 141.775398 deg,
      approachRate: -0.696423 m/s,
      LOS rate: -1.608641 deg/s,
      cmd update: -6.434563 deg/s,
      cmd heading: 125.129923 deg,
      new cmd heading: 123.879866 deg.

2021-08-15T01:52:22.114Z,1628992342.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:52:22.493Z,1628992342.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:52:22.493Z,1628992342.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:52:22.493Z,1628992342.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:52:22.494Z,1628992342.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:52:22.881Z,1628992342.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,00791,185,80,80,A4,FF
2021-08-15T01:52:22.881Z,1628992342.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:52:22.881Z,1628992342.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:52:22.883Z,1628992342.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:52:23.297Z,1628992343.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:52:23.747Z,1628992343.747 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,104,000,00760,186,80,80,AA,FF
2021-08-15T01:52:23.748Z,1628992343.748 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:52:23.756Z,1628992343.756 [Micromodem](INFO): Nmea in: $SNTTA,0.088920,0.335670,,,015224.17*57

2021-08-15T01:52:24.132Z,1628992344.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.780006 m, bearing: 143.746385 deg, deltaT: 4.587448 s, approachRate: -0.640880 m/s, LOS rate: 0.429648 deg/s, posRepo size: 4
2021-08-15T01:52:24.134Z,1628992344.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.780006 m,
      bearing: 143.746385 deg,
      approachRate: -0.640880 m/s,
      LOS rate: 0.429648 deg/s,
      cmd update: 1.718592 deg/s,
      cmd heading: 95.611994 deg,
      new cmd heading: 93.826326 deg.

2021-08-15T01:52:26.546Z,1628992346.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:52:26.925Z,1628992346.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:52:26.925Z,1628992346.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:52:26.926Z,1628992346.926 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:52:26.926Z,1628992346.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:52:27.329Z,1628992347.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
104,000,00760,186,80,80,AA,FF
2021-08-15T01:52:27.329Z,1628992347.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:52:27.329Z,1628992347.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:52:27.331Z,1628992347.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:52:27.760Z,1628992347.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:52:28.133Z,1628992348.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,0072E,183,80,80,A8,FF
2021-08-15T01:52:28.134Z,1628992348.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:52:28.581Z,1628992348.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015228.62*56

2021-08-15T01:52:28.627Z,1628992348.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.779999 m, bearing: 143.086876 deg, deltaT: 4.345365 s, approachRate: -0.690393 m/s, LOS rate: -0.151773 deg/s, posRepo size: 4
2021-08-15T01:52:28.629Z,1628992348.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.779999 m,
      bearing: 143.086876 deg,
      approachRate: -0.690393 m/s,
      LOS rate: -0.151773 deg/s,
      cmd update: -0.607092 deg/s,
      cmd heading: 103.073027 deg,
      new cmd heading: 103.814340 deg.

2021-08-15T01:52:31.030Z,1628992351.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:52:31.365Z,1628992351.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:52:31.365Z,1628992351.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:52:31.365Z,1628992351.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:52:31.366Z,1628992351.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:52:31.769Z,1628992351.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,0072E,183,80,80,A8,FF
2021-08-15T01:52:31.769Z,1628992351.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:52:31.769Z,1628992351.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:52:31.771Z,1628992351.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:52:32.246Z,1628992352.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:52:32.633Z,1628992352.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E64,000,006FF,186,80,80,B1,FF
2021-08-15T01:52:32.633Z,1628992352.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:52:33.042Z,1628992353.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015233.06*5E

2021-08-15T01:52:33.058Z,1628992353.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.959999 m, bearing: 147.768670 deg, deltaT: 4.546332 s, approachRate: -0.620280 m/s, LOS rate: 1.029796 deg/s, posRepo size: 4
2021-08-15T01:52:33.060Z,1628992353.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.959999 m,
      bearing: 147.768670 deg,
      approachRate: -0.620280 m/s,
      LOS rate: 1.029796 deg/s,
      cmd update: 4.119184 deg/s,
      cmd heading: 100.312989 deg,
      new cmd heading: 100.120941 deg.

2021-08-15T01:52:35.484Z,1628992355.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:52:35.853Z,1628992355.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:52:35.853Z,1628992355.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:52:35.853Z,1628992355.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:52:35.854Z,1628992355.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:52:36.257Z,1628992356.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E64,000,006FF,186,80,80,B1,FF
2021-08-15T01:52:36.257Z,1628992356.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:52:36.257Z,1628992356.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:52:36.259Z,1628992356.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:52:36.673Z,1628992356.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:52:37.070Z,1628992357.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CEB,000,006D7,189,80,80,BB,FF
2021-08-15T01:52:37.070Z,1628992357.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:52:37.513Z,1628992357.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015237.55*5C

2021-08-15T01:52:37.563Z,1628992357.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.560005 m, bearing: 146.809794 deg, deltaT: 4.346119 s, approachRate: -0.552215 m/s, LOS rate: -0.220628 deg/s, posRepo size: 4
2021-08-15T01:52:37.570Z,1628992357.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.560005 m,
      bearing: 146.809794 deg,
      approachRate: -0.552215 m/s,
      LOS rate: -0.220628 deg/s,
      cmd update: -0.882513 deg/s,
      cmd heading: 118.232184 deg,
      new cmd heading: 120.174655 deg.

2021-08-15T01:52:39.951Z,1628992359.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:52:40.297Z,1628992360.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:52:40.297Z,1628992360.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:52:40.297Z,1628992360.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:52:40.298Z,1628992360.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:52:40.726Z,1628992360.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CEB,000,006D7,189,80,80,BB,FF
2021-08-15T01:52:40.726Z,1628992360.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:52:40.727Z,1628992360.727 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:52:40.729Z,1628992360.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:52:41.108Z,1628992361.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:52:41.513Z,1628992361.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C45,000,006B4,189,80,80,AC,FF
2021-08-15T01:52:41.514Z,1628992361.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:52:41.941Z,1628992361.941 [Micromodem](INFO): Nmea in: $SNTTA,0.048154,0.412283,,,015242.02*5E

2021-08-15T01:52:42.019Z,1628992362.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.460007 m, bearing: 150.218263 deg, deltaT: 4.448895 s, approachRate: -0.472027 m/s, LOS rate: 0.766138 deg/s, posRepo size: 4
2021-08-15T01:52:42.025Z,1628992362.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.460007 m,
      bearing: 150.218263 deg,
      approachRate: -0.472027 m/s,
      LOS rate: 0.766138 deg/s,
      cmd update: 3.064554 deg/s,
      cmd heading: 114.310407 deg,
      new cmd heading: 113.883877 deg.

2021-08-15T01:52:44.052Z,1628992364.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:52:44.344Z,1628992364.344 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:52:44.344Z,1628992364.344 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:52:44.344Z,1628992364.344 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:52:44.345Z,1628992364.345 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:52:44.781Z,1628992364.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C45,000,006B4,189,80,80,AC,FF
2021-08-15T01:52:44.781Z,1628992364.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:52:44.781Z,1628992364.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:52:44.783Z,1628992364.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:52:45.163Z,1628992365.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:52:45.558Z,1628992365.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D17,000,00690,189,80,80,AB,FF
2021-08-15T01:52:45.558Z,1628992365.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:52:45.978Z,1628992365.978 [Micromodem](INFO): Nmea in: $SNTTA,0.386327,0.386333,,,015246.07*58

2021-08-15T01:52:46.014Z,1628992366.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.299999 m, bearing: 149.519480 deg, deltaT: 4.044646 s, approachRate: -0.534041 m/s, LOS rate: -0.172767 deg/s, posRepo size: 4
2021-08-15T01:52:46.016Z,1628992366.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.299999 m,
      bearing: 149.519480 deg,
      approachRate: -0.534041 m/s,
      LOS rate: -0.172767 deg/s,
      cmd update: -0.691070 deg/s,
      cmd heading: 126.720768 deg,
      new cmd heading: 128.032624 deg.

2021-08-15T01:52:48.442Z,1628992368.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:52:48.796Z,1628992368.796 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:52:48.797Z,1628992368.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:52:48.797Z,1628992368.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:52:48.798Z,1628992368.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:52:49.189Z,1628992369.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D17,000,00690,189,80,80,AB,FF
2021-08-15T01:52:49.189Z,1628992369.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:52:49.190Z,1628992369.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:52:49.191Z,1628992369.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:52:49.600Z,1628992369.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:52:50.001Z,1628992370.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB4,000,00665,187,80,80,A9,FF
2021-08-15T01:52:50.001Z,1628992370.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:52:50.437Z,1628992370.437 [Micromodem](INFO): Nmea in: $SNTTA,0.072833,,,,015250.48*42

2021-08-15T01:52:50.471Z,1628992370.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.720005 m, bearing: 147.341934 deg, deltaT: 4.475905 s, approachRate: -0.576418 m/s, LOS rate: -0.486504 deg/s, posRepo size: 4
2021-08-15T01:52:50.473Z,1628992370.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.720005 m,
      bearing: 147.341934 deg,
      approachRate: -0.576418 m/s,
      LOS rate: -0.486504 deg/s,
      cmd update: -1.946017 deg/s,
      cmd heading: 123.627605 deg,
      new cmd heading: 123.344434 deg.

2021-08-15T01:52:52.858Z,1628992372.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:52:53.225Z,1628992373.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:52:53.225Z,1628992373.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:52:53.225Z,1628992373.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:52:53.226Z,1628992373.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:52:53.632Z,1628992373.632 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB4,000,00665,187,80,80,A9,FF
2021-08-15T01:52:53.632Z,1628992373.632 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:52:53.632Z,1628992373.632 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:52:53.634Z,1628992373.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:52:54.052Z,1628992374.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:52:54.458Z,1628992374.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,033,000,00636,184,80,80,B3,FF
2021-08-15T01:52:54.458Z,1628992374.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:52:54.893Z,1628992374.893 [Micromodem](INFO): Nmea in: $SNTTA,0.048270,,,,015254.92*45

2021-08-15T01:52:54.942Z,1628992374.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.900009 m, bearing: 147.937868 deg, deltaT: 4.424004 s, approachRate: -0.637431 m/s, LOS rate: 0.134705 deg/s, posRepo size: 4
2021-08-15T01:52:54.948Z,1628992374.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.900009 m,
      bearing: 147.937868 deg,
      approachRate: -0.637431 m/s,
      LOS rate: 0.134705 deg/s,
      cmd update: 0.538819 deg/s,
      cmd heading: 115.019137 deg,
      new cmd heading: 114.140211 deg.

2021-08-15T01:52:57.311Z,1628992377.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:52:57.721Z,1628992377.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:52:57.721Z,1628992377.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:52:57.721Z,1628992377.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:52:57.722Z,1628992377.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:52:58.093Z,1628992378.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
033,000,00636,184,80,80,B3,FF
2021-08-15T01:52:58.093Z,1628992378.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:52:58.093Z,1628992378.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:52:58.095Z,1628992378.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:52:58.505Z,1628992378.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:52:58.897Z,1628992378.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,00609,187,80,80,B0,FF
2021-08-15T01:52:58.898Z,1628992378.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:52:59.338Z,1628992379.338 [Micromodem](INFO): Nmea in: $SNTTA,0.051672,,,,015259.38*46

2021-08-15T01:52:59.354Z,1628992379.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.199997 m, bearing: 147.689372 deg, deltaT: 4.461421 s, approachRate: -0.605191 m/s, LOS rate: -0.055699 deg/s, posRepo size: 4
2021-08-15T01:52:59.356Z,1628992379.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.199997 m,
      bearing: 147.689372 deg,
      approachRate: -0.605191 m/s,
      LOS rate: -0.055699 deg/s,
      cmd update: -0.222795 deg/s,
      cmd heading: 117.421058 deg,
      new cmd heading: 117.642734 deg.

2021-08-15T01:52:59.801Z,1628992379.801 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T01:53:01.791Z,1628992381.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:53:02.133Z,1628992382.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:53:02.133Z,1628992382.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:53:02.133Z,1628992382.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:53:02.134Z,1628992382.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:53:02.537Z,1628992382.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,00609,187,80,80,B0,FF
2021-08-15T01:53:02.537Z,1628992382.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:53:02.537Z,1628992382.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:53:02.539Z,1628992382.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:53:02.944Z,1628992382.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:53:03.349Z,1628992383.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,005D8,182,80,80,B9,FF
2021-08-15T01:53:03.350Z,1628992383.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:53:03.781Z,1628992383.781 [Micromodem](INFO): Nmea in: $SNTTA,0.076325,,,,015303.83*4A

2021-08-15T01:53:03.839Z,1628992383.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.260002 m, bearing: 147.987728 deg, deltaT: 4.468642 s, approachRate: -0.657917 m/s, LOS rate: 0.066767 deg/s, posRepo size: 4
2021-08-15T01:53:03.842Z,1628992383.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.260002 m,
      bearing: 147.987728 deg,
      approachRate: -0.657917 m/s,
      LOS rate: 0.066767 deg/s,
      cmd update: 0.267067 deg/s,
      cmd heading: 116.424562 deg,
      new cmd heading: 116.330154 deg.

2021-08-15T01:53:05.949Z,1628992385.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:53:06.166Z,1628992386.166 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:53:06.166Z,1628992386.166 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:53:06.166Z,1628992386.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:53:06.167Z,1628992386.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:53:06.581Z,1628992386.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,005D8,182,80,80,B9,FF
2021-08-15T01:53:06.581Z,1628992386.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:53:06.581Z,1628992386.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:53:06.583Z,1628992386.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:53:06.988Z,1628992386.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:53:07.381Z,1628992387.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,005AF,187,80,80,B0,FF
2021-08-15T01:53:07.382Z,1628992387.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:53:07.826Z,1628992387.826 [Micromodem](INFO): Nmea in: $SNTTA,0.485601,0.485239,,,015307.87*5E

2021-08-15T01:53:07.900Z,1628992387.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.800003 m, bearing: 149.458855 deg, deltaT: 4.049857 s, approachRate: -0.607429 m/s, LOS rate: 0.363254 deg/s, posRepo size: 4
2021-08-15T01:53:07.902Z,1628992387.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.800003 m,
      bearing: 149.458855 deg,
      approachRate: -0.607429 m/s,
      LOS rate: 0.363254 deg/s,
      cmd update: 1.453016 deg/s,
      cmd heading: 117.503942 deg,
      new cmd heading: 117.622283 deg.

2021-08-15T01:53:10.245Z,1628992390.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:53:10.613Z,1628992390.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:53:10.613Z,1628992390.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:53:10.613Z,1628992390.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:53:10.614Z,1628992390.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:53:11.029Z,1628992391.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,005AF,187,80,80,B0,FF
2021-08-15T01:53:11.029Z,1628992391.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:53:11.029Z,1628992391.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:53:11.031Z,1628992391.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:53:11.444Z,1628992391.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:53:11.822Z,1628992391.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5F,000,00586,189,80,80,BA,FF
2021-08-15T01:53:11.822Z,1628992391.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:53:12.281Z,1628992392.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015312.32*5B

2021-08-15T01:53:12.307Z,1628992392.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.339996 m, bearing: 151.570012 deg, deltaT: 4.444332 s, approachRate: -0.553515 m/s, LOS rate: 0.475022 deg/s, posRepo size: 4
2021-08-15T01:53:12.310Z,1628992392.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.339996 m,
      bearing: 151.570012 deg,
      approachRate: -0.553515 m/s,
      LOS rate: 0.475022 deg/s,
      cmd update: 1.900089 deg/s,
      cmd heading: 123.967780 deg,
      new cmd heading: 124.551679 deg.

2021-08-15T01:53:14.710Z,1628992394.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:53:15.065Z,1628992395.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:53:15.066Z,1628992395.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:53:15.066Z,1628992395.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:53:15.067Z,1628992395.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:53:15.483Z,1628992395.483 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5F,000,00586,189,80,80,BA,FF
2021-08-15T01:53:15.484Z,1628992395.484 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:53:15.485Z,1628992395.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:53:15.487Z,1628992395.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:53:15.888Z,1628992395.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:53:16.286Z,1628992396.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC7,000,00561,189,80,80,BF,FF
2021-08-15T01:53:16.286Z,1628992396.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:53:16.701Z,1628992396.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015316.78*51

2021-08-15T01:53:16.727Z,1628992396.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.119999 m, bearing: 154.742567 deg, deltaT: 4.397932 s, approachRate: -0.504782 m/s, LOS rate: 0.721374 deg/s, posRepo size: 4
2021-08-15T01:53:16.729Z,1628992396.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.119999 m,
      bearing: 154.742567 deg,
      approachRate: -0.504782 m/s,
      LOS rate: 0.721374 deg/s,
      cmd update: 2.885497 deg/s,
      cmd heading: 132.331796 deg,
      new cmd heading: 133.128879 deg.

2021-08-15T01:53:19.145Z,1628992399.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:53:19.509Z,1628992399.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:53:19.509Z,1628992399.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:53:19.509Z,1628992399.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:53:19.510Z,1628992399.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:53:19.921Z,1628992399.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC7,000,00561,189,80,80,BF,FF
2021-08-15T01:53:19.921Z,1628992399.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:53:19.921Z,1628992399.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:53:19.925Z,1628992399.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:53:20.347Z,1628992400.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:53:20.717Z,1628992400.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24A,000,00539,188,80,80,A3,FF
2021-08-15T01:53:20.718Z,1628992400.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:53:21.158Z,1628992401.158 [Micromodem](INFO): Nmea in: $SNTTA,0.050290,,,,015321.22*4A

2021-08-15T01:53:21.198Z,1628992401.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.719997 m, bearing: 97.584511 deg, deltaT: 4.461652 s, approachRate: -0.537918 m/s, LOS rate: -12.810962 deg/s, posRepo size: 4
2021-08-15T01:53:21.199Z,1628992401.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.810962 deg/s. Setting heading cmd to target bearing of 97.584511deg and heading rate command to 0 deg/s.
2021-08-15T01:53:23.597Z,1628992403.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:53:23.953Z,1628992403.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:53:23.953Z,1628992403.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:53:23.953Z,1628992403.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:53:23.954Z,1628992403.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:53:24.377Z,1628992404.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24A,000,00539,188,80,80,A3,FF
2021-08-15T01:53:24.377Z,1628992404.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:53:24.377Z,1628992404.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:53:24.379Z,1628992404.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:53:24.772Z,1628992404.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:53:25.561Z,1628992405.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015325.67*5F

2021-08-15T01:53:26.403Z,1628992406.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:53:27.985Z,1628992407.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,188,80,80,A3,FF
2021-08-15T01:53:27.985Z,1628992407.985 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,188,80,80,A3,FF
2021-08-15T01:53:27.985Z,1628992407.985 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:53:29.251Z,1628992409.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:53:29.597Z,1628992409.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:53:29.597Z,1628992409.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:53:29.598Z,1628992409.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:53:29.599Z,1628992409.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:53:30.007Z,1628992410.007 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,188,80,80,A3,FF
2021-08-15T01:53:30.007Z,1628992410.007 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:53:30.007Z,1628992410.007 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:53:30.010Z,1628992410.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:53:30.425Z,1628992410.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:53:31.238Z,1628992411.238 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015331.30*58

2021-08-15T01:53:32.072Z,1628992412.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:53:33.641Z,1628992413.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,188,80,80,A3,FF
2021-08-15T01:53:33.641Z,1628992413.641 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,188,80,80,A3,FF
2021-08-15T01:53:33.642Z,1628992413.642 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:53:34.892Z,1628992414.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:53:35.253Z,1628992415.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:53:35.253Z,1628992415.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:53:35.253Z,1628992415.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:53:35.254Z,1628992415.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:53:35.678Z,1628992415.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,188,80,80,A3,FF
2021-08-15T01:53:35.678Z,1628992415.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:53:35.679Z,1628992415.679 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:53:35.706Z,1628992415.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:53:36.096Z,1628992416.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:53:36.494Z,1628992416.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B2,000,00491,186,80,80,A9,FF
2021-08-15T01:53:36.495Z,1628992416.495 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:53:36.937Z,1628992416.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015337.00*5D

2021-08-15T01:53:36.981Z,1628992416.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.639999 m, bearing: 149.642451 deg, deltaT: 15.777108 s, approachRate: -0.638900 m/s, LOS rate: 3.299587 deg/s, posRepo size: 4
2021-08-15T01:53:36.982Z,1628992416.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.64 m.
2021-08-15T01:53:36.985Z,1628992416.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.639999 m,
      bearing: 149.642451 deg,
      approachRate: -0.638900 m/s,
      LOS rate: 3.299587 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 97.584511 deg,
      new cmd heading: 97.584511 deg.

2021-08-15T01:53:37.334Z,1628992417.334 [PowerOnly](INFO): Powering up loadControl
2021-08-15T01:53:37.370Z,1628992417.370 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T01:53:37.370Z,1628992417.370 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:53:37.370Z,1628992417.370 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T01:53:37.371Z,1628992417.371 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T01:53:37.371Z,1628992417.371 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T01:53:37.371Z,1628992417.371 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T01:53:37.818Z,1628992417.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T01:53:37.818Z,1628992417.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:53:37.818Z,1628992417.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T01:53:37.818Z,1628992417.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T01:53:39.405Z,1628992419.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:53:39.774Z,1628992419.774 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:53:39.777Z,1628992419.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:53:39.777Z,1628992419.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:53:39.778Z,1628992419.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:53:40.133Z,1628992420.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B2,000,00491,186,80,80,A9,FF
2021-08-15T01:53:40.133Z,1628992420.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:53:40.133Z,1628992420.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:53:40.135Z,1628992420.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:53:40.539Z,1628992420.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:53:40.929Z,1628992420.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8A,000,00462,187,80,80,B8,FF
2021-08-15T01:53:40.929Z,1628992420.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:53:40.986Z,1628992420.986 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:53:41.397Z,1628992421.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015341.42*5A

2021-08-15T01:53:41.459Z,1628992421.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.819998 m, bearing: 150.970417 deg, deltaT: 4.436921 s, approachRate: -0.635576 m/s, LOS rate: 0.299299 deg/s, posRepo size: 4
2021-08-15T01:53:41.459Z,1628992421.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.82 m.
2021-08-15T01:53:41.465Z,1628992421.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.819998 m,
      bearing: 150.970417 deg,
      approachRate: -0.635576 m/s,
      LOS rate: 0.299299 deg/s,
      cmd update: 1.197196 deg/s,
      cmd heading: 151.084580 deg,
      new cmd heading: 156.845996 deg.

2021-08-15T01:53:43.881Z,1628992423.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:53:44.163Z,1628992424.163 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:53:44.163Z,1628992424.163 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:53:44.163Z,1628992424.163 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:53:44.164Z,1628992424.164 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:53:44.585Z,1628992424.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8A,000,00462,187,80,80,B8,FF
2021-08-15T01:53:44.585Z,1628992424.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:53:44.585Z,1628992424.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:53:44.587Z,1628992424.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:53:44.973Z,1628992424.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:53:45.374Z,1628992425.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,00436,186,80,80,B4,FF
2021-08-15T01:53:45.374Z,1628992425.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:53:45.395Z,1628992425.395 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:53:45.801Z,1628992425.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015345.88*58

2021-08-15T01:53:45.864Z,1628992425.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.180000 m, bearing: 153.710525 deg, deltaT: 4.408862 s, approachRate: -0.598793 m/s, LOS rate: 0.621500 deg/s, posRepo size: 4
2021-08-15T01:53:45.865Z,1628992425.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.18 m.
2021-08-15T01:53:45.867Z,1628992425.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.180000 m,
      bearing: 153.710525 deg,
      approachRate: -0.598793 m/s,
      LOS rate: 0.621500 deg/s,
      cmd update: 2.486000 deg/s,
      cmd heading: 156.367833 deg,
      new cmd heading: 156.928451 deg.

2021-08-15T01:53:48.278Z,1628992428.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:53:48.614Z,1628992428.614 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:53:48.614Z,1628992428.614 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:53:48.614Z,1628992428.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:53:48.615Z,1628992428.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:53:49.017Z,1628992429.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,00436,186,80,80,B4,FF
2021-08-15T01:53:49.018Z,1628992429.018 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:53:49.018Z,1628992429.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:53:49.019Z,1628992429.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:53:49.526Z,1628992429.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:53:49.829Z,1628992429.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,0040D,187,80,80,C0,FF
2021-08-15T01:53:49.829Z,1628992429.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:53:49.947Z,1628992429.947 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:53:50.294Z,1628992430.294 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015350.31*5E

2021-08-15T01:53:50.318Z,1628992430.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 152.935462 deg, deltaT: 4.551645 s, approachRate: -0.540464 m/s, LOS rate: -0.170282 deg/s, posRepo size: 4
2021-08-15T01:53:50.319Z,1628992430.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 24.72 m.
2021-08-15T01:53:50.320Z,1628992430.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 24.72 m.
2021-08-15T01:53:50.320Z,1628992430.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T01:53:50.323Z,1628992430.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.720001 m,
      bearing: 152.935462 deg,
      approachRate: -0.540464 m/s,
      LOS rate: -0.170282 deg/s,
      cmd update: -0.681127 deg/s,
      cmd heading: 167.673135 deg,
      new cmd heading: 168.612196 deg.

2021-08-15T01:53:52.667Z,1628992432.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:53:53.056Z,1628992433.056 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:53:53.056Z,1628992433.056 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:53:53.057Z,1628992433.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:53:53.058Z,1628992433.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:53:53.457Z,1628992433.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,0040D,187,80,80,C0,FF
2021-08-15T01:53:53.457Z,1628992433.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:53:53.457Z,1628992433.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:53:53.459Z,1628992433.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:53:53.876Z,1628992433.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:53:54.261Z,1628992434.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,003E0,185,80,80,A9,FF
2021-08-15T01:53:54.261Z,1628992434.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:53:54.310Z,1628992434.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:53:54.713Z,1628992434.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015354.75*5A

2021-08-15T01:53:54.736Z,1628992434.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 150.558843 deg, deltaT: 4.363592 s, approachRate: -0.618756 m/s, LOS rate: -0.544647 deg/s, posRepo size: 4
2021-08-15T01:53:54.738Z,1628992434.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.020000 m,
      bearing: 150.558843 deg,
      approachRate: -0.618756 m/s,
      LOS rate: -0.544647 deg/s,
      cmd update: -2.178590 deg/s,
      cmd heading: 164.700849 deg,
      new cmd heading: 164.405805 deg.

2021-08-15T01:53:57.129Z,1628992437.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:53:57.493Z,1628992437.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:53:57.493Z,1628992437.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:53:57.493Z,1628992437.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:53:57.494Z,1628992437.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:53:57.901Z,1628992437.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12E,000,003E0,185,80,80,A9,FF
2021-08-15T01:53:57.901Z,1628992437.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:53:57.901Z,1628992437.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:53:57.903Z,1628992437.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:53:58.333Z,1628992438.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:53:58.705Z,1628992438.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33F,000,003B6,18A,80,80,BE,FF
2021-08-15T01:53:58.706Z,1628992438.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:53:58.726Z,1628992438.726 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:53:59.154Z,1628992439.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015359.19*5D

2021-08-15T01:53:59.185Z,1628992439.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.499998 m, bearing: 146.911645 deg, deltaT: 4.415724 s, approachRate: -0.570688 m/s, LOS rate: -0.825957 deg/s, posRepo size: 4
2021-08-15T01:53:59.187Z,1628992439.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.499998 m,
      bearing: 146.911645 deg,
      approachRate: -0.570688 m/s,
      LOS rate: -0.825957 deg/s,
      cmd update: -3.303828 deg/s,
      cmd heading: 155.071971 deg,
      new cmd heading: 154.065410 deg.

2021-08-15T01:54:01.598Z,1628992441.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:54:01.937Z,1628992441.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:54:01.937Z,1628992441.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:54:01.937Z,1628992441.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:54:01.938Z,1628992441.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:54:02.345Z,1628992442.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33F,000,003B6,18A,80,80,BE,FF
2021-08-15T01:54:02.345Z,1628992442.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:54:02.345Z,1628992442.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:54:02.347Z,1628992442.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:54:02.744Z,1628992442.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:54:03.150Z,1628992443.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,42D,000,00394,189,80,80,CC,FF
2021-08-15T01:54:03.151Z,1628992443.151 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:54:03.207Z,1628992443.207 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:54:03.585Z,1628992443.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015403.64*5F

2021-08-15T01:54:03.620Z,1628992443.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.459999 m, bearing: 140.863281 deg, deltaT: 4.481066 s, approachRate: -0.455249 m/s, LOS rate: -1.349760 deg/s, posRepo size: 4
2021-08-15T01:54:03.622Z,1628992443.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.459999 m,
      bearing: 140.863281 deg,
      approachRate: -0.455249 m/s,
      LOS rate: -1.349760 deg/s,
      cmd update: -5.399041 deg/s,
      cmd heading: 140.280631 deg,
      new cmd heading: 138.892048 deg.

2021-08-15T01:54:06.048Z,1628992446.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:54:06.393Z,1628992446.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:54:06.393Z,1628992446.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:54:06.393Z,1628992446.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:54:06.394Z,1628992446.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:54:06.793Z,1628992446.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
42D,000,00394,189,80,80,CC,FF
2021-08-15T01:54:06.793Z,1628992446.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:54:06.793Z,1628992446.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:54:06.795Z,1628992446.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:54:07.229Z,1628992447.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:54:07.589Z,1628992447.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0037A,189,80,80,C6,FF
2021-08-15T01:54:07.590Z,1628992447.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:54:07.610Z,1628992447.610 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:54:08.041Z,1628992448.041 [Micromodem](INFO): Nmea in: $SNTTA,0.037872,,,,015408.08*49

2021-08-15T01:54:08.081Z,1628992448.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.899998 m, bearing: 132.305901 deg, deltaT: 4.402832 s, approachRate: -0.354318 m/s, LOS rate: -1.943608 deg/s, posRepo size: 4
2021-08-15T01:54:08.083Z,1628992448.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 132.305901 deg,
      approachRate: -0.354318 m/s,
      LOS rate: -1.943608 deg/s,
      cmd update: -7.774433 deg/s,
      cmd heading: 116.487733 deg,
      new cmd heading: 113.927389 deg.

2021-08-15T01:54:10.461Z,1628992450.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:54:10.825Z,1628992450.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:54:10.825Z,1628992450.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:54:10.825Z,1628992450.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:54:10.826Z,1628992450.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:54:11.229Z,1628992451.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0037A,189,80,80,C6,FF
2021-08-15T01:54:11.229Z,1628992451.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:54:11.229Z,1628992451.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:54:11.231Z,1628992451.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:54:11.678Z,1628992451.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:54:12.041Z,1628992452.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00360,189,80,80,BE,FF
2021-08-15T01:54:12.042Z,1628992452.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:54:12.045Z,1628992452.045 [Micromodem](INFO): Nmea in: $SNTTA,0.061423,0.224642,,,015412.52*5C

2021-08-15T01:54:12.144Z,1628992452.144 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:54:12.523Z,1628992452.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.339997 m, bearing: 122.262749 deg, deltaT: 4.534220 s, approachRate: -0.344050 m/s, LOS rate: -2.214968 deg/s, posRepo size: 4
2021-08-15T01:54:12.529Z,1628992452.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.339997 m,
      bearing: 122.262749 deg,
      approachRate: -0.344050 m/s,
      LOS rate: -2.214968 deg/s,
      cmd update: -8.859871 deg/s,
      cmd heading: 81.301800 deg,
      new cmd heading: 78.266459 deg.

2021-08-15T01:54:14.927Z,1628992454.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:54:15.273Z,1628992455.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:54:15.273Z,1628992455.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:54:15.273Z,1628992455.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:54:15.274Z,1628992455.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:54:15.696Z,1628992455.696 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00360,189,80,80,BE,FF
2021-08-15T01:54:15.697Z,1628992455.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:54:15.697Z,1628992455.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:54:15.703Z,1628992455.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:54:16.217Z,1628992456.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:54:16.614Z,1628992456.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0034C,189,80,80,CA,FF
2021-08-15T01:54:16.615Z,1628992456.615 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:54:16.635Z,1628992456.635 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:54:17.020Z,1628992457.020 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015416.99*59

2021-08-15T01:54:17.117Z,1628992457.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.139999 m, bearing: 113.360110 deg, deltaT: 4.490664 s, approachRate: -0.267221 m/s, LOS rate: -1.982477 deg/s, posRepo size: 4
2021-08-15T01:54:17.124Z,1628992457.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.139999 m,
      bearing: 113.360110 deg,
      approachRate: -0.267221 m/s,
      LOS rate: -1.982477 deg/s,
      cmd update: -7.929909 deg/s,
      cmd heading: 41.440752 deg,
      new cmd heading: 37.187137 deg.

2021-08-15T01:54:19.456Z,1628992459.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:54:19.860Z,1628992459.860 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:54:19.860Z,1628992459.860 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:54:19.860Z,1628992459.860 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:54:19.861Z,1628992459.861 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:54:20.241Z,1628992460.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0034C,189,80,80,CA,FF
2021-08-15T01:54:20.241Z,1628992460.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:54:20.241Z,1628992460.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:54:20.243Z,1628992460.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:54:20.656Z,1628992460.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:54:21.172Z,1628992461.172 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00332,189,80,80,B4,FF
2021-08-15T01:54:21.173Z,1628992461.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:54:21.210Z,1628992461.210 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:54:21.489Z,1628992461.489 [Micromodem](INFO): Nmea in: $SNTTA,0.007409,,,,015421.53*4F

2021-08-15T01:54:21.506Z,1628992461.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.579999 m, bearing: 98.413300 deg, deltaT: 4.575031 s, approachRate: -0.340981 m/s, LOS rate: -3.267040 deg/s, posRepo size: 4
2021-08-15T01:54:21.507Z,1628992461.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.579999 m,
      bearing: 98.413300 deg,
      approachRate: -0.340981 m/s,
      LOS rate: -3.267040 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 5.161313 deg,
      new cmd heading: 2.790810 deg.

2021-08-15T01:54:23.508Z,1628992463.508 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-15T01:54:23.508Z,1628992463.508 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-15T01:54:23.508Z,1628992463.508 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-15T01:54:23.663Z,1628992463.663 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-15T01:54:23.976Z,1628992463.976 [RDI_PathfinderUp](INFO): Powering down
2021-08-15T01:54:24.002Z,1628992464.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:54:24.269Z,1628992464.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:54:24.269Z,1628992464.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:54:24.269Z,1628992464.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:54:24.270Z,1628992464.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:54:24.673Z,1628992464.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00332,189,80,80,B4,FF
2021-08-15T01:54:24.673Z,1628992464.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:54:24.673Z,1628992464.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:54:24.675Z,1628992464.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:54:24.908Z,1628992464.908 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-15T01:54:24.908Z,1628992464.908 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-15T01:54:25.087Z,1628992465.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:54:25.481Z,1628992465.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B2,000,0031A,189,80,80,8D,FF
2021-08-15T01:54:25.482Z,1628992465.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:54:25.547Z,1628992465.547 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:54:25.921Z,1628992465.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015425.97*57

2021-08-15T01:54:25.990Z,1628992465.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.139999 m, bearing: 104.232416 deg, deltaT: 4.337363 s, approachRate: -0.331999 m/s, LOS rate: 1.341625 deg/s, posRepo size: 4
2021-08-15T01:54:25.992Z,1628992465.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.139999 m,
      bearing: 104.232416 deg,
      approachRate: -0.331999 m/s,
      LOS rate: 1.341625 deg/s,
      cmd update: 5.366501 deg/s,
      cmd heading: 313.172152 deg,
      new cmd heading: 307.766272 deg.

2021-08-15T01:54:28.347Z,1628992468.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:54:28.717Z,1628992468.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:54:28.717Z,1628992468.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:54:28.717Z,1628992468.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:54:28.718Z,1628992468.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:54:29.117Z,1628992469.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B2,000,0031A,189,80,80,8D,FF
2021-08-15T01:54:29.117Z,1628992469.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:54:29.117Z,1628992469.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:54:29.119Z,1628992469.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:54:29.525Z,1628992469.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:54:29.933Z,1628992469.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D47,000,0030B,18A,80,80,B5,FF
2021-08-15T01:54:29.933Z,1628992469.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:54:30.050Z,1628992470.050 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:54:30.365Z,1628992470.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015430.41*58

2021-08-15T01:54:30.407Z,1628992470.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.240001 m, bearing: 179.903317 deg, deltaT: 4.503168 s, approachRate: -0.199859 m/s, LOS rate: 16.803925 deg/s, posRepo size: 4
2021-08-15T01:54:30.408Z,1628992470.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.803925 deg/s. Setting heading cmd to target bearing of 179.903317deg and heading rate command to 0 deg/s.
2021-08-15T01:54:32.779Z,1628992472.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:54:33.170Z,1628992473.170 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:54:33.170Z,1628992473.170 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:54:33.170Z,1628992473.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:54:33.171Z,1628992473.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:54:33.561Z,1628992473.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D47,000,0030B,18A,80,80,B5,FF
2021-08-15T01:54:33.561Z,1628992473.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:54:33.561Z,1628992473.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:54:33.563Z,1628992473.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:54:33.969Z,1628992473.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:54:34.377Z,1628992474.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,002FE,189,80,80,B4,FF
2021-08-15T01:54:34.378Z,1628992474.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:54:34.402Z,1628992474.402 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:54:34.825Z,1628992474.825 [Micromodem](INFO): Nmea in: $SNTTA,0.009786,,,,015434.85*4A

2021-08-15T01:54:34.853Z,1628992474.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.460000 m, bearing: 85.526761 deg, deltaT: 4.351466 s, approachRate: -0.179250 m/s, LOS rate: -21.688451 deg/s, posRepo size: 4
2021-08-15T01:54:34.854Z,1628992474.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.688451 deg/s. Setting heading cmd to target bearing of 85.526761deg and heading rate command to 0 deg/s.
2021-08-15T01:54:37.250Z,1628992477.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:54:37.601Z,1628992477.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:54:37.601Z,1628992477.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:54:37.602Z,1628992477.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:54:37.603Z,1628992477.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:54:38.005Z,1628992478.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,002FE,189,80,80,B4,FF
2021-08-15T01:54:38.005Z,1628992478.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:54:38.005Z,1628992478.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:54:38.007Z,1628992478.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:54:38.421Z,1628992478.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:54:38.813Z,1628992478.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11B,000,0030B,185,80,80,86,FF
2021-08-15T01:54:38.813Z,1628992478.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:54:38.866Z,1628992478.866 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:54:39.277Z,1628992479.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015439.30*57

2021-08-15T01:54:39.337Z,1628992479.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.240001 m, bearing: 134.391308 deg, deltaT: 4.464316 s, approachRate: 0.174719 m/s, LOS rate: 10.945584 deg/s, posRepo size: 4
2021-08-15T01:54:39.339Z,1628992479.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.240001 m,
      bearing: 134.391308 deg,
      approachRate: 0.174719 m/s,
      LOS rate: 10.945584 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 85.526761 deg,
      new cmd heading: 85.526761 deg.

2021-08-15T01:54:41.730Z,1628992481.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:54:42.045Z,1628992482.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:54:42.045Z,1628992482.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:54:42.045Z,1628992482.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:54:42.046Z,1628992482.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:54:42.098Z,1628992482.098 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T01:54:42.457Z,1628992482.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11B,000,0030B,185,80,80,86,FF
2021-08-15T01:54:42.457Z,1628992482.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:54:42.457Z,1628992482.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:54:42.459Z,1628992482.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:54:42.856Z,1628992482.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:54:43.261Z,1628992483.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25B,000,00323,188,80,80,B2,FF
2021-08-15T01:54:43.262Z,1628992483.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:54:43.347Z,1628992483.347 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:54:43.729Z,1628992483.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015443.75*5B

2021-08-15T01:54:43.787Z,1628992483.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.680000 m, bearing: 129.803292 deg, deltaT: 4.480552 s, approachRate: 0.321389 m/s, LOS rate: -1.023984 deg/s, posRepo size: 4
2021-08-15T01:54:43.801Z,1628992483.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.680000 m,
      bearing: 129.803292 deg,
      approachRate: 0.321389 m/s,
      LOS rate: -1.023984 deg/s,
      cmd update: -4.095938 deg/s,
      cmd heading: 139.293182 deg,
      new cmd heading: 144.665835 deg.

2021-08-15T01:54:46.139Z,1628992486.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:54:46.489Z,1628992486.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:54:46.489Z,1628992486.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:54:46.489Z,1628992486.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:54:46.490Z,1628992486.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:54:46.889Z,1628992486.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25B,000,00323,188,80,80,B2,FF
2021-08-15T01:54:46.889Z,1628992486.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:54:46.889Z,1628992486.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:54:46.891Z,1628992486.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:54:47.301Z,1628992487.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:54:47.737Z,1628992487.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C5,000,0034B,187,80,80,A3,FF
2021-08-15T01:54:47.738Z,1628992487.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:54:47.817Z,1628992487.817 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:54:48.168Z,1628992488.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.080002 m, bearing: 146.205609 deg, deltaT: 4.470826 s, approachRate: 0.536814 m/s, LOS rate: 3.668744 deg/s, posRepo size: 4
2021-08-15T01:54:48.178Z,1628992488.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 146.205609 deg,
      approachRate: 0.536814 m/s,
      LOS rate: 3.668744 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 121.103242 deg,
      new cmd heading: 119.615200 deg.

2021-08-15T01:54:50.602Z,1628992490.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:54:50.941Z,1628992490.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:54:50.941Z,1628992490.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:54:50.941Z,1628992490.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:54:50.942Z,1628992490.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:54:51.337Z,1628992491.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C5,000,0034B,187,80,80,A3,FF
2021-08-15T01:54:51.337Z,1628992491.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:54:51.337Z,1628992491.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:54:51.339Z,1628992491.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:54:51.771Z,1628992491.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:54:52.146Z,1628992492.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,00377,184,80,80,9A,FF
2021-08-15T01:54:52.146Z,1628992492.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:54:52.221Z,1628992492.221 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:54:52.586Z,1628992492.586 [Micromodem](INFO): Nmea in: $SNTTA,0.012731,,,,015452.63*44

2021-08-15T01:54:52.655Z,1628992492.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.719999 m, bearing: 168.319166 deg, deltaT: 4.403427 s, approachRate: 0.599532 m/s, LOS rate: 5.021897 deg/s, posRepo size: 4
2021-08-15T01:54:52.659Z,1628992492.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 168.319166 deg,
      approachRate: 0.599532 m/s,
      LOS rate: 5.021897 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 174.303059 deg,
      new cmd heading: 179.596211 deg.

2021-08-15T01:54:55.013Z,1628992495.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:54:55.377Z,1628992495.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:54:55.377Z,1628992495.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:54:55.377Z,1628992495.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:54:55.378Z,1628992495.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:54:55.781Z,1628992495.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,00377,184,80,80,9A,FF
2021-08-15T01:54:55.781Z,1628992495.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:54:55.781Z,1628992495.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:54:55.783Z,1628992495.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:54:56.197Z,1628992496.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:54:56.586Z,1628992496.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,0039C,186,80,80,AC,FF
2021-08-15T01:54:56.586Z,1628992496.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:54:56.611Z,1628992496.611 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:54:57.029Z,1628992497.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015457.07*5B

2021-08-15T01:54:57.112Z,1628992497.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.939997 m, bearing: 139.743854 deg, deltaT: 4.389862 s, approachRate: 0.505710 m/s, LOS rate: -6.509387 deg/s, posRepo size: 4
2021-08-15T01:54:57.113Z,1628992497.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.94 m. Rolling out.
2021-08-15T01:54:57.113Z,1628992497.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T01:54:59.462Z,1628992499.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:54:59.834Z,1628992499.834 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:54:59.834Z,1628992499.834 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:54:59.837Z,1628992499.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:54:59.842Z,1628992499.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:55:00.229Z,1628992500.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,0039C,186,80,80,AC,FF
2021-08-15T01:55:00.229Z,1628992500.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:55:00.229Z,1628992500.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:55:00.235Z,1628992500.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:55:00.637Z,1628992500.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:55:01.042Z,1628992501.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,003C2,186,80,80,6A,FF
2021-08-15T01:55:01.043Z,1628992501.043 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:55:01.063Z,1628992501.063 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:55:01.477Z,1628992501.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015501.52*59

2021-08-15T01:55:01.505Z,1628992501.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 141.981096 deg, deltaT: 4.452925 s, approachRate: 0.512023 m/s, LOS rate: 0.502421 deg/s, posRepo size: 4
2021-08-15T01:55:03.934Z,1628992503.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:55:04.265Z,1628992504.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:55:04.265Z,1628992504.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:55:04.265Z,1628992504.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:55:04.266Z,1628992504.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:55:04.669Z,1628992504.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,003C2,186,80,80,6A,FF
2021-08-15T01:55:04.669Z,1628992504.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:55:04.669Z,1628992504.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:55:04.671Z,1628992504.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:55:05.085Z,1628992505.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:55:05.101Z,1628992505.101 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:55:05.477Z,1628992505.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E37,000,003EE,186,80,80,46,FF
2021-08-15T01:55:05.477Z,1628992505.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:55:05.526Z,1628992505.526 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:55:05.932Z,1628992505.932 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015505.96*55

2021-08-15T01:55:06.041Z,1628992506.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 196.325441 deg, deltaT: 4.462796 s, approachRate: 0.591558 m/s, LOS rate: 12.177197 deg/s, posRepo size: 4
2021-08-15T01:55:08.370Z,1628992508.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:55:08.709Z,1628992508.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:55:08.709Z,1628992508.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:55:08.709Z,1628992508.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:55:08.710Z,1628992508.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:55:09.121Z,1628992509.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E37,000,003EE,186,80,80,46,FF
2021-08-15T01:55:09.121Z,1628992509.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:55:09.121Z,1628992509.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:55:09.123Z,1628992509.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:55:09.526Z,1628992509.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:55:10.390Z,1628992510.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015510.41*5B

2021-08-15T01:55:11.162Z,1628992511.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:55:11.971Z,1628992511.971 [PowerOnly](INFO): Powering down loadControl
2021-08-15T01:55:12.757Z,1628992512.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,46,FF
2021-08-15T01:55:12.757Z,1628992512.757 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,46,FF
2021-08-15T01:55:12.758Z,1628992512.758 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:55:14.030Z,1628992514.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:55:14.369Z,1628992514.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:55:14.369Z,1628992514.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:55:14.370Z,1628992514.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:55:14.371Z,1628992514.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:55:14.778Z,1628992514.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,46,FF
2021-08-15T01:55:14.778Z,1628992514.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:55:14.778Z,1628992514.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:55:14.779Z,1628992514.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:55:15.191Z,1628992515.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:55:15.589Z,1628992515.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29E,000,00458,189,80,80,72,FF
2021-08-15T01:55:15.589Z,1628992515.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:55:15.721Z,1628992515.721 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:55:16.005Z,1628992516.005 [Micromodem](INFO): Nmea in: $SNTTA,0.343747,0.343815,,,015516.07*57

2021-08-15T01:55:16.053Z,1628992516.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.219999 m, bearing: 187.760971 deg, deltaT: 10.194156 s, approachRate: 0.623887 m/s, LOS rate: -0.840135 deg/s, posRepo size: 4
2021-08-15T01:55:18.444Z,1628992518.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:55:18.826Z,1628992518.826 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:55:18.826Z,1628992518.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:55:18.827Z,1628992518.827 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:55:18.828Z,1628992518.828 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:55:19.221Z,1628992519.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29E,000,00458,189,80,80,72,FF
2021-08-15T01:55:19.221Z,1628992519.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:55:19.221Z,1628992519.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:55:19.223Z,1628992519.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:55:19.669Z,1628992519.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:55:20.033Z,1628992520.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E18,000,00475,186,80,80,C3,FF
2021-08-15T01:55:20.033Z,1628992520.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:55:20.037Z,1628992520.037 [Micromodem](INFO): Nmea in: $SNTTA,0.047700,0.164769,,,015520.51*56

2021-08-15T01:55:20.055Z,1628992520.055 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:55:20.467Z,1628992520.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.959999 m, bearing: 264.279253 deg, deltaT: 4.334464 s, approachRate: 0.401434 m/s, LOS rate: 17.653459 deg/s, posRepo size: 4
2021-08-15T01:55:22.903Z,1628992522.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:55:23.253Z,1628992523.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:55:23.253Z,1628992523.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:55:23.253Z,1628992523.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:55:23.254Z,1628992523.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:55:23.678Z,1628992523.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E18,000,00475,186,80,80,C3,FF
2021-08-15T01:55:23.679Z,1628992523.679 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:55:23.684Z,1628992523.684 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:55:23.698Z,1628992523.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:55:23.764Z,1628992523.764 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:55:24.085Z,1628992524.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:55:24.474Z,1628992524.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,00492,189,80,80,B2,FF
2021-08-15T01:55:24.474Z,1628992524.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:55:24.506Z,1628992524.506 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:55:24.959Z,1628992524.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.699997 m, bearing: 272.707023 deg, deltaT: 4.451853 s, approachRate: 0.390848 m/s, LOS rate: 1.893093 deg/s, posRepo size: 4
2021-08-15T01:55:27.319Z,1628992527.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:55:27.760Z,1628992527.760 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:55:27.760Z,1628992527.760 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:55:27.761Z,1628992527.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:55:27.762Z,1628992527.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:55:28.116Z,1628992528.116 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,00492,189,80,80,B2,FF
2021-08-15T01:55:28.116Z,1628992528.116 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:55:28.117Z,1628992528.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:55:28.118Z,1628992528.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:55:28.513Z,1628992528.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:55:28.933Z,1628992528.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,004B4,186,80,80,A9,FF
2021-08-15T01:55:28.933Z,1628992528.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:55:28.997Z,1628992528.997 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:55:29.350Z,1628992529.350 [Micromodem](INFO): Nmea in: $SNTTA,0.022649,,,,015529.41*44

2021-08-15T01:55:29.397Z,1628992529.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.740002 m, bearing: 224.106880 deg, deltaT: 4.490013 s, approachRate: 0.454343 m/s, LOS rate: -10.824053 deg/s, posRepo size: 4
2021-08-15T01:55:31.826Z,1628992531.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:55:32.153Z,1628992532.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:55:32.153Z,1628992532.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:55:32.153Z,1628992532.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:55:32.154Z,1628992532.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:55:32.565Z,1628992532.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,004B4,186,80,80,A9,FF
2021-08-15T01:55:32.566Z,1628992532.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:55:32.566Z,1628992532.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:55:32.567Z,1628992532.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:55:32.962Z,1628992532.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:55:33.361Z,1628992533.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,004D8,186,80,80,89,FF
2021-08-15T01:55:33.362Z,1628992533.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:55:33.446Z,1628992533.446 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:55:33.797Z,1628992533.797 [Micromodem](INFO): Nmea in: $SNTTA,0.041642,,,,015533.86*4A

2021-08-15T01:55:33.863Z,1628992533.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.900002 m, bearing: 225.670816 deg, deltaT: 4.449281 s, approachRate: 0.485472 m/s, LOS rate: 0.351503 deg/s, posRepo size: 4
2021-08-15T01:55:36.227Z,1628992536.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:55:36.589Z,1628992536.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:55:36.589Z,1628992536.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:55:36.589Z,1628992536.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:55:36.590Z,1628992536.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:55:36.989Z,1628992536.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,004D8,186,80,80,89,FF
2021-08-15T01:55:36.989Z,1628992536.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:55:36.989Z,1628992536.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:55:36.991Z,1628992536.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:55:37.408Z,1628992537.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:55:37.797Z,1628992537.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,004FD,184,80,80,8B,FF
2021-08-15T01:55:37.798Z,1628992537.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:55:37.897Z,1628992537.897 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:55:38.241Z,1628992538.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015538.28*5E

2021-08-15T01:55:38.267Z,1628992538.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.119999 m, bearing: 231.967240 deg, deltaT: 4.451105 s, approachRate: 0.498752 m/s, LOS rate: 1.414575 deg/s, posRepo size: 4
2021-08-15T01:55:40.659Z,1628992540.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:55:41.029Z,1628992541.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:55:41.029Z,1628992541.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:55:41.029Z,1628992541.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:55:41.030Z,1628992541.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:55:41.442Z,1628992541.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,004FD,184,80,80,8B,FF
2021-08-15T01:55:41.442Z,1628992541.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:55:41.442Z,1628992541.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:55:41.444Z,1628992541.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:55:41.840Z,1628992541.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:55:42.241Z,1628992542.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D90,000,00521,18A,80,80,91,FF
2021-08-15T01:55:42.241Z,1628992542.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:55:42.262Z,1628992542.262 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T01:55:42.677Z,1628992542.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015542.74*5A

2021-08-15T01:55:42.718Z,1628992542.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.279999 m, bearing: 267.407370 deg, deltaT: 4.364350 s, approachRate: 0.494919 m/s, LOS rate: 8.120368 deg/s, posRepo size: 4
2021-08-15T01:55:43.085Z,1628992543.085 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T01:55:43.085Z,1628992543.085 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:55:43.086Z,1628992543.086 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T01:55:43.086Z,1628992543.086 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T01:55:43.086Z,1628992543.086 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T01:55:43.087Z,1628992543.087 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T01:55:43.495Z,1628992543.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T01:55:43.495Z,1628992543.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:55:43.495Z,1628992543.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T01:55:43.495Z,1628992543.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T01:55:45.106Z,1628992545.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:55:45.473Z,1628992545.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:55:45.473Z,1628992545.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:55:45.473Z,1628992545.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:55:45.474Z,1628992545.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:55:45.881Z,1628992545.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D90,000,00521,18A,80,80,91,FF
2021-08-15T01:55:45.881Z,1628992545.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:55:45.881Z,1628992545.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:55:45.883Z,1628992545.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:55:46.297Z,1628992546.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:55:46.685Z,1628992546.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,00548,186,80,80,77,FF
2021-08-15T01:55:46.686Z,1628992546.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:55:47.130Z,1628992547.130 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015547.18*55

2021-08-15T01:55:47.166Z,1628992547.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.619995 m, bearing: 232.947290 deg, deltaT: 4.463942 s, approachRate: 0.524200 m/s, LOS rate: -7.719652 deg/s, posRepo size: 4
2021-08-15T01:55:49.551Z,1628992549.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:55:49.932Z,1628992549.932 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:55:49.932Z,1628992549.932 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:55:49.932Z,1628992549.932 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:55:49.933Z,1628992549.933 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:55:50.321Z,1628992550.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,00548,186,80,80,77,FF
2021-08-15T01:55:50.321Z,1628992550.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:55:50.321Z,1628992550.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:55:50.323Z,1628992550.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:55:50.740Z,1628992550.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:55:51.129Z,1628992551.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F89,000,00571,187,80,80,A7,FF
2021-08-15T01:55:51.129Z,1628992551.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:55:51.577Z,1628992551.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015551.61*5C

2021-08-15T01:55:51.617Z,1628992551.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.080002 m, bearing: 240.386459 deg, deltaT: 4.427871 s, approachRate: 0.555573 m/s, LOS rate: 1.680078 deg/s, posRepo size: 4
2021-08-15T01:55:54.029Z,1628992554.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:55:54.361Z,1628992554.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:55:54.361Z,1628992554.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:55:54.361Z,1628992554.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:55:54.362Z,1628992554.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:55:54.769Z,1628992554.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F89,000,00571,187,80,80,A7,FF
2021-08-15T01:55:54.769Z,1628992554.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:55:54.769Z,1628992554.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:55:54.771Z,1628992554.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:55:55.175Z,1628992555.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:55:55.577Z,1628992555.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,00597,186,80,80,9C,FF
2021-08-15T01:55:55.577Z,1628992555.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:55:56.021Z,1628992556.021 [Micromodem](INFO): Nmea in: $SNTTA,0.054491,,,,015556.06*49

2021-08-15T01:55:56.079Z,1628992556.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.360004 m, bearing: 257.661838 deg, deltaT: 4.480330 s, approachRate: 0.508892 m/s, LOS rate: 3.855827 deg/s, posRepo size: 4
2021-08-15T01:55:58.455Z,1628992558.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:55:58.805Z,1628992558.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:55:58.805Z,1628992558.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:55:58.805Z,1628992558.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:55:58.806Z,1628992558.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:55:59.217Z,1628992559.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,00597,186,80,80,9C,FF
2021-08-15T01:55:59.217Z,1628992559.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:55:59.217Z,1628992559.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:55:59.219Z,1628992559.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:55:59.629Z,1628992559.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:56:00.021Z,1628992560.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,005C5,186,80,80,92,FF
2021-08-15T01:56:00.022Z,1628992560.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:56:00.459Z,1628992560.459 [Micromodem](INFO): Nmea in: $SNTTA,0.058838,,,,015600.51*48

2021-08-15T01:56:00.475Z,1628992560.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.119999 m, bearing: 251.958684 deg, deltaT: 4.442520 s, approachRate: 0.621268 m/s, LOS rate: -1.283765 deg/s, posRepo size: 4
2021-08-15T01:56:02.887Z,1628992562.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:56:03.245Z,1628992563.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:56:03.245Z,1628992563.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:56:03.246Z,1628992563.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:56:03.247Z,1628992563.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:56:03.670Z,1628992563.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,005C5,186,80,80,92,FF
2021-08-15T01:56:03.670Z,1628992563.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:56:03.671Z,1628992563.671 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:56:03.679Z,1628992563.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:56:04.072Z,1628992564.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:56:04.461Z,1628992564.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5D,000,005EF,187,80,80,A1,FF
2021-08-15T01:56:04.461Z,1628992564.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:56:04.922Z,1628992564.922 [Micromodem](INFO): Nmea in: $SNTTA,0.051128,,,,01560415606,AUV,2.1.4000*2E

2021-08-15T01:56:04.922Z,1628992564.922 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNTTA,0.051128,,,,01560415606,AUV,2.1.4000*2E
 expected 16
2021-08-15T01:56:04.982Z,1628992564.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.639999 m, bearing: 254.670652 deg, deltaT: 4.435305 s, approachRate: 0.568168 m/s, LOS rate: 0.611450 deg/s, posRepo size: 4
2021-08-15T01:56:07.351Z,1628992567.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:56:07.761Z,1628992567.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:56:07.761Z,1628992567.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:56:07.761Z,1628992567.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:56:07.762Z,1628992567.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:56:07.822Z,1628992567.822 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T01:56:08.147Z,1628992568.147 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5D,000,005EF,187,80,80,A1,FF
2021-08-15T01:56:08.147Z,1628992568.147 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:56:08.147Z,1628992568.147 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:56:08.150Z,1628992568.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:56:08.553Z,1628992568.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:56:08.949Z,1628992568.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,0061C,185,80,80,A0,FF
2021-08-15T01:56:08.950Z,1628992568.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:56:09.389Z,1628992569.389 [Micromodem](INFO): Nmea in: $SNTTA,0.050994,,,,015609.44*4A

2021-08-15T01:56:09.426Z,1628992569.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.340000 m, bearing: 249.450694 deg, deltaT: 4.469295 s, approachRate: 0.604122 m/s, LOS rate: -1.167960 deg/s, posRepo size: 4
2021-08-15T01:56:11.820Z,1628992571.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:56:12.185Z,1628992572.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:56:12.185Z,1628992572.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:56:12.185Z,1628992572.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:56:12.186Z,1628992572.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:56:12.585Z,1628992572.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,0061C,185,80,80,A0,FF
2021-08-15T01:56:12.585Z,1628992572.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:56:12.585Z,1628992572.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:56:12.587Z,1628992572.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:56:13.001Z,1628992573.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:56:13.397Z,1628992573.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,00643,187,80,80,A1,FF
2021-08-15T01:56:13.398Z,1628992573.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:56:13.841Z,1628992573.841 [Micromodem](INFO): Nmea in: $SNTTA,0.483567,,,,015613.88*4B

2021-08-15T01:56:13.898Z,1628992573.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.680004 m, bearing: 255.482461 deg, deltaT: 4.470049 s, approachRate: 0.523485 m/s, LOS rate: 1.349374 deg/s, posRepo size: 4
2021-08-15T01:56:16.259Z,1628992576.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:56:16.643Z,1628992576.643 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:56:16.644Z,1628992576.644 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:56:16.645Z,1628992576.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:56:16.646Z,1628992576.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:56:17.026Z,1628992577.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,00643,187,80,80,A1,FF
2021-08-15T01:56:17.026Z,1628992577.026 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:56:17.026Z,1628992577.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:56:17.027Z,1628992577.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:56:17.446Z,1628992577.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:56:17.849Z,1628992577.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,0066E,188,80,80,5A,FF
2021-08-15T01:56:17.850Z,1628992577.849 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:56:17.872Z,1628992577.872 [Micromodem](INFO): Nmea in: $SNTTA,0.073160,0.222873,,,015618.32*59

2021-08-15T01:56:18.286Z,1628992578.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.259998 m, bearing: 206.116750 deg, deltaT: 4.497836 s, approachRate: 0.573608 m/s, LOS rate: -10.975436 deg/s, posRepo size: 4
2021-08-15T01:56:20.727Z,1628992580.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:56:21.069Z,1628992581.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:56:21.069Z,1628992581.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:56:21.069Z,1628992581.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:56:21.070Z,1628992581.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:56:21.477Z,1628992581.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21A,000,0066E,188,80,80,5A,FF
2021-08-15T01:56:21.477Z,1628992581.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:56:21.477Z,1628992581.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:56:21.479Z,1628992581.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:56:21.898Z,1628992581.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:56:21.923Z,1628992581.923 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T01:56:22.281Z,1628992582.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,00697,187,80,80,A7,FF
2021-08-15T01:56:22.282Z,1628992582.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:56:22.734Z,1628992582.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015622.77*5C

2021-08-15T01:56:22.761Z,1628992582.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.719997 m, bearing: 253.277157 deg, deltaT: 4.357643 s, approachRate: 0.564525 m/s, LOS rate: 10.822458 deg/s, posRepo size: 4
2021-08-15T01:56:25.154Z,1628992585.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:56:25.517Z,1628992585.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:56:25.517Z,1628992585.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:56:25.517Z,1628992585.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:56:25.518Z,1628992585.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:56:25.925Z,1628992585.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,00697,187,80,80,A7,FF
2021-08-15T01:56:25.925Z,1628992585.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:56:25.925Z,1628992585.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:56:25.927Z,1628992585.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:56:26.325Z,1628992586.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:56:26.733Z,1628992586.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,006C0,186,80,80,BF,FF
2021-08-15T01:56:26.733Z,1628992586.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:56:27.162Z,1628992587.162 [Micromodem](INFO): Nmea in: $SNTTA,0.130350,,,,015627.22*43

2021-08-15T01:56:27.213Z,1628992587.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.180000 m, bearing: 241.257718 deg, deltaT: 4.481627 s, approachRate: 0.548908 m/s, LOS rate: -2.681937 deg/s, posRepo size: 4
2021-08-15T01:56:29.587Z,1628992589.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:56:29.965Z,1628992589.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:56:29.965Z,1628992589.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:56:29.965Z,1628992589.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:56:29.966Z,1628992589.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:56:30.365Z,1628992590.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,006C0,186,80,80,BF,FF
2021-08-15T01:56:30.365Z,1628992590.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:56:30.365Z,1628992590.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:56:30.367Z,1628992590.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:56:30.776Z,1628992590.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:56:31.185Z,1628992591.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,006E6,186,80,80,BB,FF
2021-08-15T01:56:31.186Z,1628992591.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:56:31.613Z,1628992591.613 [Micromodem](INFO): Nmea in: $SNTTA,0.067966,,,,015631.66*48

2021-08-15T01:56:31.714Z,1628992591.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.459999 m, bearing: 229.735680 deg, deltaT: 4.468774 s, approachRate: 0.510207 m/s, LOS rate: -2.578344 deg/s, posRepo size: 4
2021-08-15T01:56:34.012Z,1628992594.012 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:56:34.058Z,1628992594.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:56:34.401Z,1628992594.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:56:34.401Z,1628992594.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:56:34.401Z,1628992594.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:56:34.402Z,1628992594.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:56:34.813Z,1628992594.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,006E6,186,80,80,BB,FF
2021-08-15T01:56:34.813Z,1628992594.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:56:34.813Z,1628992594.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:56:34.815Z,1628992594.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:56:35.217Z,1628992595.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:56:35.630Z,1628992595.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,0070F,186,80,80,CC,FF
2021-08-15T01:56:35.630Z,1628992595.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:56:36.037Z,1628992596.037 [Micromodem](INFO): Nmea in: $SNTTA,0.055475,0.365137,,,015636.11*5A

2021-08-15T01:56:36.079Z,1628992596.079 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:56:36.092Z,1628992596.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.919998 m, bearing: 237.688479 deg, deltaT: 4.495316 s, approachRate: 0.547236 m/s, LOS rate: 1.769130 deg/s, posRepo size: 4
2021-08-15T01:56:38.483Z,1628992598.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:56:38.852Z,1628992598.852 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:56:38.852Z,1628992598.852 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:56:38.853Z,1628992598.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:56:38.854Z,1628992598.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:56:39.255Z,1628992599.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,0070F,186,80,80,CC,FF
2021-08-15T01:56:39.255Z,1628992599.255 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:56:39.256Z,1628992599.256 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:56:39.257Z,1628992599.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:56:39.676Z,1628992599.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:56:40.057Z,1628992600.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED6,000,00732,187,80,80,BB,FF
2021-08-15T01:56:40.058Z,1628992600.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:56:40.513Z,1628992600.513 [Micromodem](INFO): Nmea in: $SNTTA,0.097005,,,,015640.55*4D

2021-08-15T01:56:40.539Z,1628992600.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.019997 m, bearing: 259.178631 deg, deltaT: 4.325029 s, approachRate: 0.485546 m/s, LOS rate: 4.968788 deg/s, posRepo size: 4
2021-08-15T01:56:42.962Z,1628992602.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:56:43.317Z,1628992603.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:56:43.317Z,1628992603.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:56:43.317Z,1628992603.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:56:43.318Z,1628992603.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:56:43.765Z,1628992603.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED6,000,00732,187,80,80,BB,FF
2021-08-15T01:56:43.765Z,1628992603.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:56:43.766Z,1628992603.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:56:43.787Z,1628992603.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:56:44.174Z,1628992604.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:56:44.557Z,1628992604.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,00758,184,80,80,DE,FF
2021-08-15T01:56:44.557Z,1628992604.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:56:44.987Z,1628992604.987 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015645.08*55

2021-08-15T01:56:45.043Z,1628992605.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.300003 m, bearing: 237.540565 deg, deltaT: 4.499919 s, approachRate: 0.506677 m/s, LOS rate: -4.808546 deg/s, posRepo size: 4
2021-08-15T01:56:47.402Z,1628992607.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:56:47.789Z,1628992607.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:56:47.789Z,1628992607.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:56:47.789Z,1628992607.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:56:47.790Z,1628992607.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:56:48.197Z,1628992608.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,00758,184,80,80,DE,FF
2021-08-15T01:56:48.197Z,1628992608.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:56:48.197Z,1628992608.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:56:48.199Z,1628992608.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:56:48.617Z,1628992608.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:56:49.446Z,1628992609.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015649.49*5C

2021-08-15T01:56:50.263Z,1628992610.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:56:51.837Z,1628992611.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,184,80,80,DE,FF
2021-08-15T01:56:51.837Z,1628992611.837 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,184,80,80,DE,FF
2021-08-15T01:56:51.837Z,1628992611.837 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:56:53.087Z,1628992613.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:56:53.453Z,1628992613.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:56:53.453Z,1628992613.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:56:53.453Z,1628992613.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:56:53.454Z,1628992613.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:56:53.861Z,1628992613.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,184,80,80,DE,FF
2021-08-15T01:56:53.861Z,1628992613.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:56:53.861Z,1628992613.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:56:53.863Z,1628992613.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:56:54.272Z,1628992614.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:56:54.682Z,1628992614.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,007B2,186,80,80,98,FF
2021-08-15T01:56:54.683Z,1628992614.683 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:56:55.120Z,1628992615.120 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015655.16*5B

2021-08-15T01:56:55.145Z,1628992615.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.700005 m, bearing: 243.119217 deg, deltaT: 10.190398 s, approachRate: 0.529911 m/s, LOS rate: 0.547442 deg/s, posRepo size: 4
2021-08-15T01:56:57.530Z,1628992617.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:56:57.909Z,1628992617.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:56:57.909Z,1628992617.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:56:57.909Z,1628992617.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:56:57.910Z,1628992617.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:56:58.313Z,1628992618.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,007B2,186,80,80,98,FF
2021-08-15T01:56:58.313Z,1628992618.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:56:58.314Z,1628992618.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:56:58.315Z,1628992618.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:56:58.748Z,1628992618.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:56:59.113Z,1628992619.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,007E5,183,80,80,40,FF
2021-08-15T01:56:59.113Z,1628992619.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:56:59.561Z,1628992619.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015659.61*57

2021-08-15T01:56:59.594Z,1628992619.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.760002 m, bearing: 230.476264 deg, deltaT: 4.366088 s, approachRate: 0.700856 m/s, LOS rate: -2.895717 deg/s, posRepo size: 4
2021-08-15T01:57:01.972Z,1628992621.972 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T01:57:01.998Z,1628992621.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:57:02.345Z,1628992622.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:57:02.345Z,1628992622.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:57:02.345Z,1628992622.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:57:02.346Z,1628992622.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:57:02.761Z,1628992622.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,007E5,183,80,80,40,FF
2021-08-15T01:57:02.761Z,1628992622.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:57:02.762Z,1628992622.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:57:02.763Z,1628992622.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:57:03.159Z,1628992623.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:57:03.569Z,1628992623.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A1,000,00813,186,80,80,66,FF
2021-08-15T01:57:03.570Z,1628992623.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:57:04.001Z,1628992624.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015704.05*5C

2021-08-15T01:57:04.058Z,1628992624.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.520004 m, bearing: 209.578358 deg, deltaT: 4.456386 s, approachRate: 0.619336 m/s, LOS rate: -4.689429 deg/s, posRepo size: 4
2021-08-15T01:57:06.420Z,1628992626.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:57:06.821Z,1628992626.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:57:06.821Z,1628992626.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:57:06.821Z,1628992626.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:57:06.822Z,1628992626.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:57:07.217Z,1628992627.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A1,000,00813,186,80,80,66,FF
2021-08-15T01:57:07.217Z,1628992627.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:57:07.217Z,1628992627.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:57:07.219Z,1628992627.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:57:07.706Z,1628992627.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:57:08.057Z,1628992628.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,168,000,00844,186,80,80,6E,FF
2021-08-15T01:57:08.058Z,1628992628.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:57:08.490Z,1628992628.490 [Micromodem](INFO): Nmea in: $SNTTA,,0.161982,,,015708.51*4A

2021-08-15T01:57:08.514Z,1628992628.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.459999 m, bearing: 214.158464 deg, deltaT: 4.531556 s, approachRate: 0.648783 m/s, LOS rate: 1.010714 deg/s, posRepo size: 4
2021-08-15T01:57:10.968Z,1628992630.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:57:11.331Z,1628992631.331 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:57:11.331Z,1628992631.331 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:57:11.331Z,1628992631.331 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:57:11.332Z,1628992631.332 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:57:11.745Z,1628992631.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
168,000,00844,186,80,80,6E,FF
2021-08-15T01:57:11.745Z,1628992631.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:57:11.745Z,1628992631.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:57:11.747Z,1628992631.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:57:12.152Z,1628992632.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:57:12.982Z,1628992632.982 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015713.04*5B

2021-08-15T01:57:13.826Z,1628992633.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:57:15.373Z,1628992635.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,6E,FF
2021-08-15T01:57:15.373Z,1628992635.373 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,6E,FF
2021-08-15T01:57:15.374Z,1628992635.374 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:57:16.339Z,1628992636.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:57:16.749Z,1628992636.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:57:16.749Z,1628992636.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:57:16.749Z,1628992636.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:57:16.750Z,1628992636.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:57:17.125Z,1628992637.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,6E,FF
2021-08-15T01:57:17.125Z,1628992637.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:57:17.126Z,1628992637.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:57:17.127Z,1628992637.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:57:17.532Z,1628992637.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:57:17.936Z,1628992637.936 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,008AC,189,80,80,84,FF
2021-08-15T01:57:17.937Z,1628992637.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:57:18.373Z,1628992638.373 [Micromodem](INFO): Nmea in: $SNTTA,0.083042,,,,015718.42*41

2021-08-15T01:57:18.425Z,1628992638.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.699997 m, bearing: 268.063779 deg, deltaT: 9.892541 s, approachRate: 0.630778 m/s, LOS rate: 5.449087 deg/s, posRepo size: 4
2021-08-15T01:57:20.818Z,1628992640.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:57:21.162Z,1628992641.162 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:57:21.162Z,1628992641.162 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:57:21.162Z,1628992641.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:57:21.163Z,1628992641.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:57:21.565Z,1628992641.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,008AC,189,80,80,84,FF
2021-08-15T01:57:21.565Z,1628992641.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:57:21.565Z,1628992641.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:57:21.567Z,1628992641.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:57:22.069Z,1628992642.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:57:22.099Z,1628992642.099 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T01:57:22.465Z,1628992642.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,008D6,186,80,80,7C,FF
2021-08-15T01:57:22.465Z,1628992642.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:57:22.885Z,1628992642.885 [Micromodem](INFO): Nmea in: $SNTTA,0.067463,,,,015722.86*4D

2021-08-15T01:57:22.931Z,1628992642.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.220001 m, bearing: 244.763381 deg, deltaT: 4.471431 s, approachRate: 0.563579 m/s, LOS rate: -5.210949 deg/s, posRepo size: 4
2021-08-15T01:57:25.331Z,1628992645.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:57:25.737Z,1628992645.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:57:25.737Z,1628992645.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:57:25.738Z,1628992645.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:57:25.739Z,1628992645.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:57:26.097Z,1628992646.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,008D6,186,80,80,7C,FF
2021-08-15T01:57:26.097Z,1628992646.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:57:26.097Z,1628992646.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:57:26.099Z,1628992646.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:57:26.513Z,1628992646.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:57:26.905Z,1628992646.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,00907,186,80,80,73,FF
2021-08-15T01:57:26.906Z,1628992646.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:57:27.350Z,1628992647.350 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015727.39*52

2021-08-15T01:57:27.366Z,1628992647.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.160004 m, bearing: 238.244320 deg, deltaT: 4.489462 s, approachRate: 0.654867 m/s, LOS rate: -1.452081 deg/s, posRepo size: 4
2021-08-15T01:57:28.893Z,1628992648.893 [CTD_Seabird](ERROR): Failed to parse device response: 69,4700.51
2021-08-15T01:57:29.830Z,1628992649.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:57:30.167Z,1628992650.167 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:57:30.167Z,1628992650.167 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:57:30.167Z,1628992650.167 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:57:30.168Z,1628992650.168 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:57:30.329Z,1628992650.329 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.252007
2021-08-15T01:57:30.557Z,1628992650.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,00907,186,80,80,73,FF
2021-08-15T01:57:30.557Z,1628992650.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:57:30.557Z,1628992650.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:57:30.559Z,1628992650.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:57:30.976Z,1628992650.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:57:31.373Z,1628992651.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,00936,184,80,80,69,FF
2021-08-15T01:57:31.373Z,1628992651.373 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:57:31.810Z,1628992651.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015731.85*52

2021-08-15T01:57:31.871Z,1628992651.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.980003 m, bearing: 231.276680 deg, deltaT: 4.454829 s, approachRate: 0.633021 m/s, LOS rate: -1.564065 deg/s, posRepo size: 4
2021-08-15T01:57:34.235Z,1628992654.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:57:34.601Z,1628992654.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:57:34.601Z,1628992654.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:57:34.601Z,1628992654.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:57:34.602Z,1628992654.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:57:35.009Z,1628992655.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,00936,184,80,80,69,FF
2021-08-15T01:57:35.009Z,1628992655.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:57:35.009Z,1628992655.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:57:35.011Z,1628992655.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:57:35.348Z,1628992655.348 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-15T01:57:35.453Z,1628992655.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:57:35.584Z,1628992655.584 [Radio_Surface](INFO): Powering down
2021-08-15T01:57:35.853Z,1628992655.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,00968,185,80,80,8F,FF
2021-08-15T01:57:35.853Z,1628992655.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:57:35.913Z,1628992655.913 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T01:57:35.919Z,1628992655.919 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T01:57:36.277Z,1628992656.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015736.30*5B

2021-08-15T01:57:36.299Z,1628992656.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.980003 m, bearing: 253.054165 deg, deltaT: 4.529220 s, approachRate: 0.662366 m/s, LOS rate: 4.808220 deg/s, posRepo size: 4
2021-08-15T01:57:37.897Z,1628992657.897 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T01:57:38.732Z,1628992658.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:57:39.081Z,1628992659.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:57:39.081Z,1628992659.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:57:39.081Z,1628992659.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:57:39.082Z,1628992659.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:57:39.489Z,1628992659.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,00968,185,80,80,8F,FF
2021-08-15T01:57:39.490Z,1628992659.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:57:39.490Z,1628992659.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:57:39.491Z,1628992659.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:57:40.053Z,1628992660.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:57:40.409Z,1628992660.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,0099C,187,80,80,A7,FF
2021-08-15T01:57:40.410Z,1628992660.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:57:40.835Z,1628992660.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.099998 m, bearing: 257.340628 deg, deltaT: 4.518947 s, approachRate: 0.690425 m/s, LOS rate: 0.948553 deg/s, posRepo size: 4
2021-08-15T01:57:43.235Z,1628992663.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:57:43.626Z,1628992663.626 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:57:43.626Z,1628992663.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:57:43.626Z,1628992663.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:57:43.627Z,1628992663.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:57:44.029Z,1628992664.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,0099C,187,80,80,A7,FF
2021-08-15T01:57:44.029Z,1628992664.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:57:44.029Z,1628992664.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:57:44.031Z,1628992664.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:57:44.549Z,1628992664.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:57:44.977Z,1628992664.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,010C7,187,80,80,A6,FF
2021-08-15T01:57:44.978Z,1628992664.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:57:45.373Z,1628992665.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015745.32*5D

2021-08-15T01:57:45.396Z,1628992665.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.199997 m, bearing: 255.695508 deg, deltaT: 4.577552 s, approachRate: 24.052156 m/s, LOS rate: -0.359388 deg/s, posRepo size: 4
2021-08-15T01:57:47.827Z,1628992667.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:57:48.175Z,1628992668.175 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:57:48.175Z,1628992668.175 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:57:48.175Z,1628992668.175 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:57:48.177Z,1628992668.177 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:57:48.586Z,1628992668.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,010C7,187,80,80,A6,FF
2021-08-15T01:57:48.586Z,1628992668.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:57:48.586Z,1628992668.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:57:48.588Z,1628992668.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:57:48.993Z,1628992668.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:57:49.791Z,1628992669.791 [Micromodem](INFO): Nmea in: $SNTTA,0.439346,0.439734,,,015749.88*51

2021-08-15T01:57:50.601Z,1628992670.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,03AAA,186,80,80,89,FF
2021-08-15T01:57:50.602Z,1628992670.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:57:51.065Z,1628992671.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 863.580017 m, bearing: 254.414957 deg, deltaT: 5.565876 s, approachRate: 115.593666 m/s, LOS rate: -0.230072 deg/s, posRepo size: 4
2021-08-15T01:57:53.443Z,1628992673.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:57:53.829Z,1628992673.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:57:53.829Z,1628992673.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:57:53.829Z,1628992673.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:57:53.830Z,1628992673.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:57:54.241Z,1628992674.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,03AAA,186,80,80,89,FF
2021-08-15T01:57:54.241Z,1628992674.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:57:54.241Z,1628992674.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:57:54.243Z,1628992674.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:57:54.645Z,1628992674.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:57:56.282Z,1628992676.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:57:57.873Z,1628992677.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,89,FF
2021-08-15T01:57:57.873Z,1628992677.873 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,89,FF
2021-08-15T01:57:57.873Z,1628992677.873 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:57:59.123Z,1628992679.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:57:59.493Z,1628992679.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:57:59.493Z,1628992679.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:57:59.493Z,1628992679.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:57:59.494Z,1628992679.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:57:59.893Z,1628992679.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,89,FF
2021-08-15T01:57:59.893Z,1628992679.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:57:59.894Z,1628992679.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:57:59.895Z,1628992679.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:58:01.511Z,1628992681.511 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,03C7D,187,80,80,89,FF
2021-08-15T01:58:01.512Z,1628992681.512 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:58:01.978Z,1628992681.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 891.600098 m, bearing: 255.328372 deg, deltaT: 10.910444 s, approachRate: 2.568189 m/s, LOS rate: 0.083719 deg/s, posRepo size: 4
2021-08-15T01:58:04.378Z,1628992684.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:04.378Z,1628992684.378 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T01:58:04.379Z,1628992684.379 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T01:58:04.379Z,1628992684.379 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T01:58:04.379Z,1628992684.379 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T01:58:04.379Z,1628992684.379 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T01:58:04.830Z,1628992684.830 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:58:04.830Z,1628992684.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:58:04.830Z,1628992684.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:58:04.831Z,1628992684.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:58:05.077Z,1628992685.077 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 06411861360000005D00000400260000000000000000151D80030C5669C08C79984CE12DF48B04B5BAEFEF77F3BFA534339D7A7C429E0E1BA2850000
2021-08-15T01:58:05.333Z,1628992685.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,03C7D,187,80,80,89,FF
2021-08-15T01:58:05.333Z,1628992685.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:58:05.334Z,1628992685.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:58:07.155Z,1628992687.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:08.297Z,1628992688.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,89,FF
2021-08-15T01:58:08.298Z,1628992688.298 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,89,FF
2021-08-15T01:58:08.298Z,1628992688.298 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:58:10.039Z,1628992690.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:10.334Z,1628992690.334 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:58:10.334Z,1628992690.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:58:10.334Z,1628992690.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:58:10.335Z,1628992690.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:58:10.786Z,1628992690.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,89,FF
2021-08-15T01:58:10.786Z,1628992690.786 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:58:10.786Z,1628992690.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:58:11.241Z,1628992691.241 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:58:13.083Z,1628992693.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:13.649Z,1628992693.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,89,FF
2021-08-15T01:58:13.649Z,1628992693.649 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,89,FF
2021-08-15T01:58:13.649Z,1628992693.649 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:58:15.787Z,1628992695.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:16.085Z,1628992696.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:58:16.085Z,1628992696.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:58:16.085Z,1628992696.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:58:16.086Z,1628992696.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:58:16.102Z,1628992696.102 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-15T01:58:16.489Z,1628992696.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,89,FF
2021-08-15T01:58:16.489Z,1628992696.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:58:16.490Z,1628992696.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:58:18.552Z,1628992698.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:19.326Z,1628992699.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,89,FF
2021-08-15T01:58:19.327Z,1628992699.327 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,89,FF
2021-08-15T01:58:19.327Z,1628992699.327 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:58:20.578Z,1628992700.578 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-15T01:58:20.578Z,1628992700.578 [Micromodem] Hardware Fault, FailCount= 1
2021-08-15T01:58:20.578Z,1628992700.578 [Micromodem](ERROR): Hardware Fault
2021-08-15T01:58:20.658Z,1628992700.658 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T01:58:20.659Z,1628992700.659 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T01:58:20.659Z,1628992700.659 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T01:58:20.660Z,1628992700.660 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T01:58:20.661Z,1628992700.661 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T01:58:20.807Z,1628992700.807 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-15T01:58:20.989Z,1628992700.989 [Micromodem](INFO): Powering down
2021-08-15T01:58:21.138Z,1628992701.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:21.389Z,1628992701.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:58:21.389Z,1628992701.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:58:21.389Z,1628992701.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:58:21.390Z,1628992701.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:58:21.793Z,1628992701.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,89,FF
2021-08-15T01:58:21.793Z,1628992701.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:58:21.793Z,1628992701.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:58:21.960Z,1628992701.960 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-15T01:58:21.960Z,1628992701.960 [Micromodem] No Fault, FailCount= 1
2021-08-15T01:58:24.027Z,1628992704.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:24.625Z,1628992704.625 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:58:24.626Z,1628992704.626 [Micromodem](INFO): Powering up
2021-08-15T01:58:24.626Z,1628992704.626 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-15T01:58:26.693Z,1628992706.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:27.461Z,1628992707.461 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.070050
2021-08-15T01:58:28.265Z,1628992708.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,89,FF
2021-08-15T01:58:28.265Z,1628992708.265 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,89,FF
2021-08-15T01:58:28.265Z,1628992708.265 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:58:29.484Z,1628992709.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:29.877Z,1628992709.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:58:29.877Z,1628992709.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:58:29.878Z,1628992709.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:58:29.879Z,1628992709.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:58:30.277Z,1628992710.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,89,FF
2021-08-15T01:58:30.277Z,1628992710.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:58:30.277Z,1628992710.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:58:31.576Z,1628992711.576 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-15T01:58:31.576Z,1628992711.576 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-15T01:58:31.576Z,1628992711.576 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-15T01:58:31.816Z,1628992711.816 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-15T01:58:31.936Z,1628992711.936 [RDI_Pathfinder](INFO): Powering down
2021-08-15T01:58:32.315Z,1628992712.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:32.828Z,1628992712.828 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-15T01:58:32.828Z,1628992712.828 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-15T01:58:33.089Z,1628992713.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,89,FF
2021-08-15T01:58:33.089Z,1628992713.089 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,89,FF
2021-08-15T01:58:33.090Z,1628992713.090 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:58:34.738Z,1628992714.738 [Micromodem](INFO): Nmea in: $CATMG,2021-08-15T01:58:34.070665Z,RTC,RTC*54

2021-08-15T01:58:34.738Z,1628992714.738 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-15T01:58:34.070665Z,RTC,RTC*54

2021-08-15T01:58:35.128Z,1628992715.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:35.514Z,1628992715.514 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:58:35.514Z,1628992715.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:58:35.514Z,1628992715.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:58:35.515Z,1628992715.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:58:35.909Z,1628992715.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,89,FF
2021-08-15T01:58:35.909Z,1628992715.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:58:35.909Z,1628992715.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:58:35.910Z,1628992715.910 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:58:36.323Z,1628992716.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:58:36.343Z,1628992716.343 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T01:58:36.733Z,1628992716.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,00A57,185,80,80,70,FF
2021-08-15T01:58:36.733Z,1628992716.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:58:36.736Z,1628992716.736 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T01:58:36.737Z,1628992716.737 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-15T01:58:37.166Z,1628992717.166 [Micromodem](INFO): Nmea in: $CADRQ,015837,1,10,0,64,1*7E

2021-08-15T01:58:37.166Z,1628992717.166 [Micromodem](ERROR): CFG response from modem unexpected: $CADRQ,015837,1,10,0,64,1*7E

2021-08-15T01:58:37.189Z,1628992717.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.320000 m, bearing: 248.300298 deg, deltaT: 35.301078 s, approachRate: -21.820299 m/s, LOS rate: -0.199089 deg/s, posRepo size: 4
2021-08-15T01:58:37.545Z,1628992717.545 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-15T01:58:37.545Z,1628992717.545 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-15T01:58:37.958Z,1628992717.958 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015837.21*55

2021-08-15T01:58:37.958Z,1628992717.958 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,,,,,015837.21*55

2021-08-15T01:58:39.161Z,1628992719.161 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-15T01:58:39.162Z,1628992719.162 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-15T01:58:39.567Z,1628992719.567 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-15T01:58:39.568Z,1628992719.568 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-15T01:58:39.629Z,1628992719.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:39.949Z,1628992719.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:58:39.949Z,1628992719.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:58:39.949Z,1628992719.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:58:39.950Z,1628992719.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:58:39.957Z,1628992719.957 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-15T01:58:39.958Z,1628992719.958 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-15T01:58:40.362Z,1628992720.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,00A57,185,80,80,70,FF
2021-08-15T01:58:40.362Z,1628992720.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:58:40.362Z,1628992720.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:58:40.364Z,1628992720.364 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-15T01:58:40.364Z,1628992720.364 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-15T01:58:40.789Z,1628992720.789 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-15T01:58:40.790Z,1628992720.790 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-15T01:58:41.160Z,1628992721.160 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-15T01:58:41.160Z,1628992721.160 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-15T01:58:41.562Z,1628992721.562 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-15T01:58:41.562Z,1628992721.562 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,15,01,58,42*43

2021-08-15T01:58:41.981Z,1628992721.981 [Micromodem](INFO): Nmea in: $CACLK,2021,8,15,1,58,42*41

2021-08-15T01:58:41.983Z,1628992721.983 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-15T01:58:43Z*70

2021-08-15T01:58:41.986Z,1628992721.986 [Micromodem](INFO): Nmea in: $CATMG,2021-08-15T01:58:43.027024Z,USER_CMD,RTC*14

2021-08-15T01:58:42.055Z,1628992722.055 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T01:58:42.055Z,1628992722.055 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T01:58:42.055Z,1628992722.055 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T01:58:42.055Z,1628992722.055 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T01:58:42.055Z,1628992722.055 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T01:58:42.456Z,1628992722.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:45.370Z,1628992725.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:46.124Z,1628992726.124 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.173879
2021-08-15T01:58:48.197Z,1628992728.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:48.541Z,1628992728.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:58:48.541Z,1628992728.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:58:48.541Z,1628992728.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:58:48.542Z,1628992728.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:58:49.006Z,1628992729.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,00A57,185,80,80,70,FF
2021-08-15T01:58:49.006Z,1628992729.006 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:58:49.006Z,1628992729.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:58:49.008Z,1628992729.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:58:49.409Z,1628992729.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:58:50.260Z,1628992730.260 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015850.30*54

2021-08-15T01:58:50.878Z,1628992730.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:52.653Z,1628992732.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,185,80,80,70,FF
2021-08-15T01:58:52.653Z,1628992732.653 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,185,80,80,70,FF
2021-08-15T01:58:52.653Z,1628992732.653 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:58:53.513Z,1628992733.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:53.865Z,1628992733.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:58:53.865Z,1628992733.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:58:53.865Z,1628992733.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:58:53.866Z,1628992733.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:58:54.281Z,1628992734.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,185,80,80,70,FF
2021-08-15T01:58:54.281Z,1628992734.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:58:54.281Z,1628992734.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:58:54.283Z,1628992734.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:58:54.684Z,1628992734.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:58:55.086Z,1628992735.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,00CDC,185,80,80,70,FF
2021-08-15T01:58:55.086Z,1628992735.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:58:55.602Z,1628992735.602 [Micromodem](INFO): Nmea in: $SNTTA,0.115576,0.333748,,,015855.58*56

2021-08-15T01:58:55.633Z,1628992735.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.020004 m, bearing: 239.680053 deg, deltaT: 18.598774 s, approachRate: 2.080783 m/s, LOS rate: -0.463485 deg/s, posRepo size: 4
2021-08-15T01:58:58.187Z,1628992738.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:58:58.544Z,1628992738.544 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:58:58.545Z,1628992738.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:58:58.545Z,1628992738.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:58:58.546Z,1628992738.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:58:58.945Z,1628992738.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,00CDC,185,80,80,70,FF
2021-08-15T01:58:58.945Z,1628992738.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:58:58.946Z,1628992738.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:58:58.947Z,1628992738.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:58:59.465Z,1628992739.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:58:59.878Z,1628992739.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,00D11,187,80,80,7B,FF
2021-08-15T01:58:59.878Z,1628992739.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:59:00.312Z,1628992740.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.199997 m, bearing: 243.523811 deg, deltaT: 4.504803 s, approachRate: 0.705912 m/s, LOS rate: 0.853258 deg/s, posRepo size: 4
2021-08-15T01:59:02.457Z,1628992742.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:59:02.849Z,1628992742.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:59:02.849Z,1628992742.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:59:02.849Z,1628992742.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:59:02.850Z,1628992742.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:59:03.251Z,1628992743.251 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,00D11,187,80,80,7B,FF
2021-08-15T01:59:03.251Z,1628992743.251 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:59:03.251Z,1628992743.251 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:59:03.254Z,1628992743.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:59:03.679Z,1628992743.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:59:04.213Z,1628992744.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,00D43,186,80,80,7E,FF
2021-08-15T01:59:04.214Z,1628992744.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:59:04.625Z,1628992744.625 [Micromodem](INFO): Nmea in: $SNTTA,0.137306,,,,015904.55*49

2021-08-15T01:59:04.648Z,1628992744.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.200012 m, bearing: 240.728187 deg, deltaT: 4.328392 s, approachRate: 0.693102 m/s, LOS rate: -0.645880 deg/s, posRepo size: 4
2021-08-15T01:59:06.723Z,1628992746.723 [Micromodem](INFO): Nmea in: $CAERR,015907,DATA_TIMEOUT,1*44

2021-08-15T01:59:07.205Z,1628992747.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:59:07.517Z,1628992747.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:59:07.517Z,1628992747.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:59:07.517Z,1628992747.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:59:07.518Z,1628992747.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:59:07.927Z,1628992747.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,00D43,186,80,80,7E,FF
2021-08-15T01:59:07.927Z,1628992747.927 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:59:07.927Z,1628992747.927 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:59:07.929Z,1628992747.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:59:08.472Z,1628992748.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:59:08.875Z,1628992748.875 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,00D77,187,80,80,7B,FF
2021-08-15T01:59:08.875Z,1628992748.875 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:59:09.288Z,1628992749.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015909.22*5A

2021-08-15T01:59:09.364Z,1628992749.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.319992 m, bearing: 239.340156 deg, deltaT: 4.639969 s, approachRate: 0.672414 m/s, LOS rate: -0.299147 deg/s, posRepo size: 4
2021-08-15T01:59:11.488Z,1628992751.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:59:11.801Z,1628992751.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:59:11.802Z,1628992751.802 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:59:11.802Z,1628992751.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:59:11.803Z,1628992751.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:59:12.221Z,1628992752.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,00D77,187,80,80,7B,FF
2021-08-15T01:59:12.221Z,1628992752.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:59:12.221Z,1628992752.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:59:12.223Z,1628992752.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:59:12.613Z,1628992752.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:59:13.030Z,1628992753.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,00D77,187,80,80,7B,FF
2021-08-15T01:59:13.030Z,1628992753.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:59:13.445Z,1628992753.445 [Micromodem](INFO): Nmea in: $SNTTA,0.117822,0.362801,,,015913.52*57

2021-08-15T01:59:13.500Z,1628992753.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.319992 m, bearing: 236.536199 deg, deltaT: 4.192825 s, approachRate: 0.000000 m/s, LOS rate: -0.668751 deg/s, posRepo size: 4
2021-08-15T01:59:15.934Z,1628992755.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:59:16.265Z,1628992756.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:59:16.266Z,1628992756.266 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:59:16.266Z,1628992756.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:59:16.267Z,1628992756.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:59:16.688Z,1628992756.688 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,00D77,187,80,80,7B,FF
2021-08-15T01:59:16.688Z,1628992756.688 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:59:16.688Z,1628992756.688 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:59:16.691Z,1628992756.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:59:17.244Z,1628992757.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:59:18.026Z,1628992758.026 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015917.98*54

2021-08-15T01:59:18.460Z,1628992758.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:59:20.052Z,1628992760.052 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,7B,FF
2021-08-15T01:59:20.053Z,1628992760.053 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,7B,FF
2021-08-15T01:59:20.053Z,1628992760.053 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T01:59:21.130Z,1628992761.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:59:21.337Z,1628992761.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:59:21.337Z,1628992761.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:59:21.337Z,1628992761.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:59:21.338Z,1628992761.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:59:21.739Z,1628992761.739 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,7B,FF
2021-08-15T01:59:21.739Z,1628992761.739 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:59:21.740Z,1628992761.740 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:59:21.743Z,1628992761.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:59:22.163Z,1628992762.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:59:22.552Z,1628992762.552 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD,80,63,E4
7,187,80,80,7B,FF
2021-08-15T01:59:22.553Z,1628992762.553 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FD,80,63,E4
7,187,80,80,7B,FF
2021-08-15T01:59:22.978Z,1628992762.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015923.04*56

2021-08-15T01:59:23.900Z,1628992763.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:59:26.765Z,1628992766.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:59:27.528Z,1628992767.528 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.189685
2021-08-15T01:59:29.276Z,1628992769.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:59:29.566Z,1628992769.566 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:59:29.566Z,1628992769.566 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:59:29.567Z,1628992769.567 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:59:29.568Z,1628992769.568 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:59:29.573Z,1628992769.573 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T01:59:30.056Z,1628992770.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD,80,63,E4
7,187,80,80,7B,FF
2021-08-15T01:59:30.056Z,1628992770.056 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:59:30.056Z,1628992770.056 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:59:30.058Z,1628992770.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:59:30.436Z,1628992770.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:59:30.658Z,1628992770.658 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 06411861360000005D00000400260000000000000000151D80030C5669C08C79984CE12DF48B04B5BAEFEF77F3BFA534339D7A7C429E0E1BA2850000
2021-08-15T01:59:30.659Z,1628992770.659 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T01:59:30.933Z,1628992770.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,00E7A,183,80,80,78,FF
2021-08-15T01:59:30.933Z,1628992770.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:59:30.936Z,1628992770.936 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T01:59:31.325Z,1628992771.325 [Micromodem](INFO): Nmea in: $CADRQ,015931,1,10,0,64,1*79

2021-08-15T01:59:31.326Z,1628992771.326 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861360000005D00000400260000000000000000151D80030C5669C08C79984CE12DF48B04B5BAEFEF77F3BFA534339D7A7C429E0E1BA2850000*40

2021-08-15T01:59:31.489Z,1628992771.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.860001 m, bearing: 234.022089 deg, deltaT: 17.940292 s, approachRate: 0.866207 m/s, LOS rate: -0.140138 deg/s, posRepo size: 4
2021-08-15T01:59:31.741Z,1628992771.741 [Micromodem](INFO): Nmea in: $SNTTA,0.141821,,,,015931.35*46

2021-08-15T01:59:31.742Z,1628992771.742 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.141821,,,,015931.35*46

2021-08-15T01:59:32.941Z,1628992772.941 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T01:59:33.377Z,1628992773.377 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T01:59:33.738Z,1628992773.738 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T01:59:33.791Z,1628992773.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:59:34.150Z,1628992774.150 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:59:34.150Z,1628992774.150 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:59:34.150Z,1628992774.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:59:34.151Z,1628992774.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:59:34.162Z,1628992774.162 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,015932.638326,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*53

2021-08-15T01:59:34.557Z,1628992774.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,00E7A,183,80,80,78,FF
2021-08-15T01:59:34.557Z,1628992774.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:59:34.557Z,1628992774.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:59:34.559Z,1628992774.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:59:34.976Z,1628992774.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:59:35.794Z,1628992775.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015935.85*58

2021-08-15T01:59:36.395Z,1628992776.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:59:37.789Z,1628992777.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,07C98,183,80,80,81,FF
2021-08-15T01:59:37.790Z,1628992777.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:59:38.244Z,1628992778.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1876.260132 m, bearing: 233.138972 deg, deltaT: 6.809763 s, approachRate: 248.378708 m/s, LOS rate: -0.129684 deg/s, posRepo size: 4
2021-08-15T01:59:41.370Z,1628992781.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:59:41.545Z,1628992781.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:59:41.545Z,1628992781.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:59:41.545Z,1628992781.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:59:41.546Z,1628992781.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:59:41.945Z,1628992781.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,07C98,183,80,80,81,FF
2021-08-15T01:59:41.945Z,1628992781.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:59:41.945Z,1628992781.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:59:41.947Z,1628992781.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:59:42.353Z,1628992782.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:59:43.213Z,1628992783.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00F0D,183,80,80,6F,FF
2021-08-15T01:59:43.213Z,1628992783.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:59:43.217Z,1628992783.217 [Micromodem](INFO): Nmea in: $SNTTA,0.130889,,,,015943.24*47

2021-08-15T01:59:43.798Z,1628992783.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.679993 m, bearing: 233.166867 deg, deltaT: 5.685660 s, approachRate: -295.933990 m/s, LOS rate: 0.004906 deg/s, posRepo size: 4
2021-08-15T01:59:46.193Z,1628992786.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:59:46.551Z,1628992786.551 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:59:46.551Z,1628992786.551 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:59:46.551Z,1628992786.551 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:59:46.552Z,1628992786.552 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:59:46.951Z,1628992786.951 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,00F0D,183,80,80,6F,FF
2021-08-15T01:59:46.967Z,1628992786.967 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:59:46.967Z,1628992786.967 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:59:46.970Z,1628992786.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:59:47.358Z,1628992787.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:59:47.771Z,1628992787.771 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,006F3,186,80,80,89,FF
2021-08-15T01:59:47.772Z,1628992787.772 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:59:48.238Z,1628992788.238 [Micromodem](INFO): Nmea in: $SNTTA,0.134345,,,,015948.27*40

2021-08-15T01:59:48.260Z,1628992788.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.240005 m, bearing: 245.119725 deg, deltaT: 4.503101 s, approachRate: -27.634287 m/s, LOS rate: 2.654362 deg/s, posRepo size: 4
2021-08-15T01:59:50.709Z,1628992790.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:59:51.073Z,1628992791.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:59:51.074Z,1628992791.074 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:59:51.074Z,1628992791.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:59:51.075Z,1628992791.075 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:59:51.461Z,1628992791.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,006F3,186,80,80,89,FF
2021-08-15T01:59:51.461Z,1628992791.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:59:51.461Z,1628992791.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:59:51.463Z,1628992791.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:59:51.880Z,1628992791.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:59:52.721Z,1628992792.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,00F72,186,80,80,7B,FF
2021-08-15T01:59:52.721Z,1628992792.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:59:52.724Z,1628992792.724 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015952.76*55

2021-08-15T01:59:53.180Z,1628992793.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.739990 m, bearing: 242.654956 deg, deltaT: 4.752596 s, approachRate: 27.458673 m/s, LOS rate: -0.518615 deg/s, posRepo size: 4
2021-08-15T01:59:55.599Z,1628992795.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T01:59:55.922Z,1628992795.922 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T01:59:55.922Z,1628992795.922 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T01:59:55.922Z,1628992795.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T01:59:55.923Z,1628992795.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T01:59:56.333Z,1628992796.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,00F72,186,80,80,7B,FF
2021-08-15T01:59:56.333Z,1628992796.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T01:59:56.333Z,1628992796.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T01:59:56.335Z,1628992796.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T01:59:56.905Z,1628992796.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T01:59:57.301Z,1628992797.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F49,000,00FA7,187,80,80,7F,FF
2021-08-15T01:59:57.302Z,1628992797.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T01:59:57.750Z,1628992797.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015957.63*54

2021-08-15T01:59:57.822Z,1628992797.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.919998 m, bearing: 240.561394 deg, deltaT: 4.608041 s, approachRate: 0.690100 m/s, LOS rate: -0.454328 deg/s, posRepo size: 4
2021-08-15T02:00:00.179Z,1628992800.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:00.533Z,1628992800.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:00:00.533Z,1628992800.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:00:00.533Z,1628992800.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:00:00.534Z,1628992800.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:00:00.933Z,1628992800.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F49,000,00FA7,187,80,80,7F,FF
2021-08-15T02:00:00.933Z,1628992800.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:00:00.933Z,1628992800.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:00:00.935Z,1628992800.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:00:01.577Z,1628992801.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:00:02.754Z,1628992802.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,03E67,187,80,80,7F,FF
2021-08-15T02:00:02.754Z,1628992802.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:00:03.459Z,1628992803.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 921.000061 m, bearing: 239.527139 deg, deltaT: 5.445361 s, approachRate: 131.870056 m/s, LOS rate: -0.189933 deg/s, posRepo size: 4
2021-08-15T02:00:05.721Z,1628992805.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:06.053Z,1628992806.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:00:06.053Z,1628992806.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:00:06.054Z,1628992806.054 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:00:06.054Z,1628992806.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:00:06.453Z,1628992806.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,03E67,187,80,80,7F,FF
2021-08-15T02:00:06.453Z,1628992806.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:00:06.454Z,1628992806.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:00:06.456Z,1628992806.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:00:06.864Z,1628992806.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:00:07.729Z,1628992807.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,0102B,186,80,80,76,FF
2021-08-15T02:00:07.729Z,1628992807.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:00:07.757Z,1628992807.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020007.75*59

2021-08-15T02:00:08.232Z,1628992808.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.839996 m, bearing: 238.994248 deg, deltaT: 5.144143 s, approachRate: -138.052155 m/s, LOS rate: -0.103592 deg/s, posRepo size: 4
2021-08-15T02:00:10.730Z,1628992810.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:11.045Z,1628992811.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:00:11.045Z,1628992811.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:00:11.045Z,1628992811.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:00:11.046Z,1628992811.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:00:11.457Z,1628992811.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,0102B,186,80,80,76,FF
2021-08-15T02:00:11.457Z,1628992811.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:00:11.458Z,1628992811.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:00:11.459Z,1628992811.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:00:11.856Z,1628992811.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:00:12.721Z,1628992812.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,01055,186,80,80,87,FF
2021-08-15T02:00:12.721Z,1628992812.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:00:12.724Z,1628992812.724 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020012.75*5D

2021-08-15T02:00:13.159Z,1628992813.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.359985 m, bearing: 236.750831 deg, deltaT: 4.786535 s, approachRate: 0.526475 m/s, LOS rate: -0.468693 deg/s, posRepo size: 4
2021-08-15T02:00:15.574Z,1628992815.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:15.893Z,1628992815.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:00:15.893Z,1628992815.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:00:15.893Z,1628992815.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:00:15.894Z,1628992815.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:00:16.317Z,1628992816.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,01055,186,80,80,87,FF
2021-08-15T02:00:16.317Z,1628992816.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:00:16.317Z,1628992816.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:00:16.319Z,1628992816.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:00:16.869Z,1628992816.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:00:17.269Z,1628992817.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,0108F,184,80,80,6C,FF
2021-08-15T02:00:17.270Z,1628992817.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:00:17.706Z,1628992817.706 [Micromodem](INFO): Nmea in: $SNTTA,0.146798,,,,020017.61*46

2021-08-15T02:00:17.757Z,1628992817.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.839996 m, bearing: 233.893107 deg, deltaT: 4.571854 s, approachRate: 0.761182 m/s, LOS rate: -0.625069 deg/s, posRepo size: 4
2021-08-15T02:00:20.165Z,1628992820.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:20.501Z,1628992820.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:00:20.501Z,1628992820.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:00:20.501Z,1628992820.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:00:20.502Z,1628992820.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:00:20.985Z,1628992820.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,0108F,184,80,80,6C,FF
2021-08-15T02:00:20.985Z,1628992820.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:00:20.985Z,1628992820.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:00:20.987Z,1628992820.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:00:21.393Z,1628992821.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:00:22.233Z,1628992822.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,010C6,187,80,80,8A,FF
2021-08-15T02:00:22.233Z,1628992822.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:00:22.260Z,1628992822.260 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020022.28*56

2021-08-15T02:00:22.904Z,1628992822.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.139984 m, bearing: 234.901380 deg, deltaT: 4.959949 s, approachRate: 0.665327 m/s, LOS rate: 0.203283 deg/s, posRepo size: 4
2021-08-15T02:00:25.264Z,1628992825.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:25.565Z,1628992825.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:00:25.565Z,1628992825.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:00:25.565Z,1628992825.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:00:25.566Z,1628992825.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:00:25.969Z,1628992825.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,010C6,187,80,80,8A,FF
2021-08-15T02:00:25.969Z,1628992825.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:00:25.970Z,1628992825.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:00:25.971Z,1628992825.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:00:26.368Z,1628992826.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:00:27.227Z,1628992827.227 [Micromodem](INFO): Nmea in: $SNTTA,0.152129,,,,020027.27*4E

2021-08-15T02:00:28.067Z,1628992828.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:29.639Z,1628992829.639 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,8A,FF
2021-08-15T02:00:29.639Z,1628992829.639 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,8A,FF
2021-08-15T02:00:29.639Z,1628992829.639 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:00:30.895Z,1628992830.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:31.257Z,1628992831.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:00:31.257Z,1628992831.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:00:31.257Z,1628992831.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:00:31.258Z,1628992831.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:00:31.672Z,1628992831.672 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,8A,FF
2021-08-15T02:00:31.673Z,1628992831.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:00:31.673Z,1628992831.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:00:31.683Z,1628992831.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:00:32.069Z,1628992832.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:00:32.878Z,1628992832.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020032.98*5C

2021-08-15T02:00:33.552Z,1628992833.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:35.341Z,1628992835.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,8A,FF
2021-08-15T02:00:35.341Z,1628992835.341 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,8A,FF
2021-08-15T02:00:35.341Z,1628992835.341 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:00:35.762Z,1628992835.762 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T02:00:36.350Z,1628992836.350 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 06411861360000005D00000400260000000000000000151D80030C5669C08C79984CE12DF48B04B5BAEFEF77F3BFA534339D7A7C429E0E1BA2850000
2021-08-15T02:00:36.351Z,1628992836.351 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T02:00:36.412Z,1628992836.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:36.582Z,1628992836.582 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:00:36.583Z,1628992836.583 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:00:36.583Z,1628992836.583 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:00:36.584Z,1628992836.584 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:00:36.590Z,1628992836.590 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T02:00:36.978Z,1628992836.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,8A,FF
2021-08-15T02:00:36.978Z,1628992836.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:00:36.978Z,1628992836.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:00:36.980Z,1628992836.980 [Micromodem](INFO): Nmea in: $CADRQ,020037,1,10,0,64,1*70

2021-08-15T02:00:36.980Z,1628992836.980 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861360000005D00000400260000000000000000151D80030C5669C08C79984CE12DF48B04B5BAEFEF77F3BFA534339D7A7C429E0E1BA2850000*40

2021-08-15T02:00:37.402Z,1628992837.402 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T02:00:37.402Z,1628992837.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:00:37.790Z,1628992837.790 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T02:00:37.790Z,1628992837.790 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-15T02:00:39.026Z,1628992839.026 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T02:00:39.026Z,1628992839.026 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T02:00:39.105Z,1628992839.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:39.411Z,1628992839.411 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,020038.295184,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5F

2021-08-15T02:00:39.412Z,1628992839.412 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,020038.295184,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5F

2021-08-15T02:00:42.110Z,1628992842.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:42.720Z,1628992842.720 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.136848
2021-08-15T02:00:44.791Z,1628992844.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:45.133Z,1628992845.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:00:45.134Z,1628992845.134 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:00:45.135Z,1628992845.135 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:00:45.140Z,1628992845.140 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:00:45.511Z,1628992845.511 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,8A,FF
2021-08-15T02:00:45.511Z,1628992845.511 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:00:45.511Z,1628992845.511 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:00:47.244Z,1628992847.244 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for altitude
2021-08-15T02:00:47.606Z,1628992847.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:48.878Z,1628992848.878 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:00:49.301Z,1628992849.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:00:50.155Z,1628992850.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:51.320Z,1628992851.320 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.184287
2021-08-15T02:00:52.505Z,1628992852.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,8A,FF
2021-08-15T02:00:52.505Z,1628992852.505 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,8A,FF
2021-08-15T02:00:52.505Z,1628992852.505 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:00:53.400Z,1628992853.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:53.573Z,1628992853.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:00:53.573Z,1628992853.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:00:53.573Z,1628992853.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:00:53.574Z,1628992853.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:00:53.965Z,1628992853.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,8A,FF
2021-08-15T02:00:53.965Z,1628992853.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:00:53.965Z,1628992853.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:00:53.967Z,1628992853.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:00:54.372Z,1628992854.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:00:55.230Z,1628992855.230 [Micromodem](INFO): Nmea in: $SNTTA,0.167182,,,,020055.26*4D

2021-08-15T02:00:56.084Z,1628992856.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:57.285Z,1628992857.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,8A,FF
2021-08-15T02:00:57.285Z,1628992857.285 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,8A,FF
2021-08-15T02:00:57.286Z,1628992857.286 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:00:58.942Z,1628992858.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:00:59.297Z,1628992859.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:00:59.297Z,1628992859.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:00:59.297Z,1628992859.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:00:59.298Z,1628992859.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:00:59.730Z,1628992859.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,8A,FF
2021-08-15T02:00:59.730Z,1628992859.730 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:00:59.730Z,1628992859.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:00:59.732Z,1628992859.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:01:00.336Z,1628992860.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:01:01.165Z,1628992861.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020101.03*5F

2021-08-15T02:01:01.575Z,1628992861.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:03.173Z,1628992863.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,8A,FF
2021-08-15T02:01:03.174Z,1628992863.174 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,8A,FF
2021-08-15T02:01:03.174Z,1628992863.174 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:01:04.396Z,1628992864.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:04.767Z,1628992864.767 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:01:04.767Z,1628992864.767 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:01:04.767Z,1628992864.767 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:01:04.768Z,1628992864.768 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:01:05.233Z,1628992865.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,8A,FF
2021-08-15T02:01:05.233Z,1628992865.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:01:05.233Z,1628992865.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:01:05.235Z,1628992865.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:01:05.259Z,1628992865.259 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:01:05.580Z,1628992865.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:01:06.381Z,1628992866.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,012D3,184,80,80,52,FF
2021-08-15T02:01:06.381Z,1628992866.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:01:06.861Z,1628992866.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020106.53*5D

2021-08-15T02:01:06.906Z,1628992866.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.639999 m, bearing: 233.092309 deg, deltaT: 44.339410 s, approachRate: 0.710429 m/s, LOS rate: -0.040801 deg/s, posRepo size: 4
2021-08-15T02:01:09.335Z,1628992869.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:09.729Z,1628992869.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:01:09.729Z,1628992869.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:01:09.729Z,1628992869.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:01:09.730Z,1628992869.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:01:10.111Z,1628992870.111 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,012D3,184,80,80,52,FF
2021-08-15T02:01:10.117Z,1628992870.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:01:10.119Z,1628992870.119 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:01:10.161Z,1628992870.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:01:10.521Z,1628992870.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:01:11.319Z,1628992871.319 [Micromodem](INFO): Nmea in: $SNTTA,0.392985,0.391523,,,020111.46*5C

2021-08-15T02:01:12.159Z,1628992872.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:13.450Z,1628992873.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E2D3,184,80,80,52,FF
2021-08-15T02:01:13.450Z,1628992873.450 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E2D3,184,80,80,52,FF
2021-08-15T02:01:13.451Z,1628992873.451 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:01:14.744Z,1628992874.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:15.061Z,1628992875.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:01:15.061Z,1628992875.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:01:15.061Z,1628992875.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:01:15.062Z,1628992875.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:01:15.574Z,1628992875.574 [DUSBL_Hydroid](INFO): DUSBL response received:4
!U1,P
,80,63,E2D3,184,80,80,52,FF
2021-08-15T02:01:15.574Z,1628992875.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:01:15.574Z,1628992875.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:01:15.576Z,1628992875.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:01:15.988Z,1628992875.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:01:16.822Z,1628992876.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020116.87*55

2021-08-15T02:01:17.269Z,1628992877.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:19.237Z,1628992879.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,184,80,80,52,FF
2021-08-15T02:01:19.237Z,1628992879.237 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,184,80,80,52,FF
2021-08-15T02:01:19.238Z,1628992879.238 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:01:19.900Z,1628992879.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:20.065Z,1628992880.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:01:20.065Z,1628992880.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:01:20.065Z,1628992880.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:01:20.066Z,1628992880.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:01:20.471Z,1628992880.471 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,184,80,80,52,FF
2021-08-15T02:01:20.471Z,1628992880.471 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:01:20.471Z,1628992880.471 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:01:20.473Z,1628992880.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:01:20.876Z,1628992880.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:01:21.725Z,1628992881.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,0136A,184,80,80,5F,FF
2021-08-15T02:01:21.725Z,1628992881.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:01:21.728Z,1628992881.728 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020121.77*5E

2021-08-15T02:01:22.177Z,1628992882.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.699982 m, bearing: 231.277937 deg, deltaT: 15.331784 s, approachRate: 0.590928 m/s, LOS rate: -0.118341 deg/s, posRepo size: 4
2021-08-15T02:01:24.579Z,1628992884.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:24.954Z,1628992884.954 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:01:24.954Z,1628992884.954 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:01:24.955Z,1628992884.955 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:01:24.956Z,1628992884.956 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:01:25.366Z,1628992885.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,0136A,184,80,80,5F,FF
2021-08-15T02:01:25.366Z,1628992885.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:01:25.367Z,1628992885.367 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:01:25.368Z,1628992885.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:01:25.402Z,1628992885.402 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T02:01:25.809Z,1628992885.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:01:26.966Z,1628992886.966 [Micromodem](INFO): Nmea in: $SNTTA,0.178461,,,,020126.66*4A

2021-08-15T02:01:27.420Z,1628992887.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:28.991Z,1628992888.991 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,184,80,80,5F,FF
2021-08-15T02:01:28.991Z,1628992888.991 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,184,80,80,5F,FF
2021-08-15T02:01:28.991Z,1628992888.991 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:01:30.238Z,1628992890.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:30.605Z,1628992890.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:01:30.605Z,1628992890.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:01:30.605Z,1628992890.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:01:30.606Z,1628992890.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:01:31.018Z,1628992891.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,184,80,80,5F,FF
2021-08-15T02:01:31.018Z,1628992891.018 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:01:31.018Z,1628992891.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:01:31.019Z,1628992891.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:01:31.421Z,1628992891.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:01:32.245Z,1628992892.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,013E6,187,80,80,61,FF
2021-08-15T02:01:32.246Z,1628992892.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:01:32.248Z,1628992892.248 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020132.31*5E

2021-08-15T02:01:32.704Z,1628992892.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.139984 m, bearing: 235.553308 deg, deltaT: 10.290244 s, approachRate: 0.723015 m/s, LOS rate: 0.415478 deg/s, posRepo size: 4
2021-08-15T02:01:34.802Z,1628992894.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:35.174Z,1628992895.174 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:01:35.175Z,1628992895.175 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:01:35.175Z,1628992895.175 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:01:35.183Z,1628992895.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:01:35.447Z,1628992895.447 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T02:01:35.689Z,1628992895.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,013E6,187,80,80,61,FF
2021-08-15T02:01:35.689Z,1628992895.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:01:35.689Z,1628992895.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:01:35.691Z,1628992895.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:01:36.076Z,1628992896.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:01:36.887Z,1628992896.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,0141A,186,80,80,67,FF
2021-08-15T02:01:36.888Z,1628992896.888 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:01:36.917Z,1628992896.917 [Micromodem](INFO): Nmea in: $SNTTA,0.182546,,,,020136.99*4A

2021-08-15T02:01:37.341Z,1628992897.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.260010 m, bearing: 235.290045 deg, deltaT: 4.701456 s, approachRate: 0.663630 m/s, LOS rate: -0.055996 deg/s, posRepo size: 4
2021-08-15T02:01:39.954Z,1628992899.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:40.161Z,1628992900.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:01:40.161Z,1628992900.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:01:40.161Z,1628992900.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:01:40.162Z,1628992900.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:01:40.545Z,1628992900.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,0141A,186,80,80,67,FF
2021-08-15T02:01:40.545Z,1628992900.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:01:40.545Z,1628992900.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:01:40.547Z,1628992900.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:01:40.973Z,1628992900.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:01:41.354Z,1628992901.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,005FC,184,80,80,63,FF
2021-08-15T02:01:41.354Z,1628992901.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:01:41.357Z,1628992901.357 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T02:01:41.789Z,1628992901.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020141.84*54

2021-08-15T02:01:41.981Z,1628992901.981 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 06411861360000005D00000400260000000000000000151D80030C5669C08C79984CE12DF48B04B5BAEFEF77F3BFA534339D7A7C429E0E1BA2850000
2021-08-15T02:01:41.981Z,1628992901.981 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T02:01:42.242Z,1628992902.242 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T02:01:42.256Z,1628992902.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.419998 m, bearing: 234.485011 deg, deltaT: 4.484268 s, approachRate: -48.355721 m/s, LOS rate: -0.179524 deg/s, posRepo size: 4
2021-08-15T02:01:43.278Z,1628992903.278 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T02:01:43.701Z,1628992903.701 [Micromodem](INFO): Nmea in: $CADRQ,020143,1,10,0,64,1*72

2021-08-15T02:01:43.701Z,1628992903.701 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861360000005D00000400260000000000000000151D80030C5669C08C79984CE12DF48B04B5BAEFEF77F3BFA534339D7A7C429E0E1BA2850000*40

2021-08-15T02:01:44.082Z,1628992904.082 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T02:01:44.126Z,1628992904.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:44.469Z,1628992904.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:01:44.469Z,1628992904.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:01:44.469Z,1628992904.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:01:44.470Z,1628992904.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:01:44.477Z,1628992904.477 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T02:01:44.881Z,1628992904.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,005FC,184,80,80,63,FF
2021-08-15T02:01:44.881Z,1628992904.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:01:44.882Z,1628992904.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:01:44.883Z,1628992904.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:01:45.695Z,1628992905.695 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T02:01:45.695Z,1628992905.695 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T02:01:46.099Z,1628992906.099 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,020145.015580,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5E

2021-08-15T02:01:46.099Z,1628992906.099 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,020145.015580,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5E

2021-08-15T02:01:46.947Z,1628992906.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:49.809Z,1628992909.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:50.588Z,1628992910.588 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.117885
2021-08-15T02:01:52.838Z,1628992912.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:53.025Z,1628992913.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:01:53.025Z,1628992913.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:01:53.025Z,1628992913.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:01:53.026Z,1628992913.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:01:53.437Z,1628992913.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,005FC,184,80,80,63,FF
2021-08-15T02:01:53.437Z,1628992913.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:01:53.438Z,1628992913.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:01:55.484Z,1628992915.484 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T02:01:55.543Z,1628992915.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:01:56.290Z,1628992916.290 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:01:56.713Z,1628992916.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:01:57.517Z,1628992917.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,01506,184,80,80,85,FF
2021-08-15T02:01:57.517Z,1628992917.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:01:57.521Z,1628992917.521 [Micromodem](INFO): Nmea in: $SNTTA,0.197117,,,,020157.59*45

2021-08-15T02:01:57.956Z,1628992917.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 285.419983 m, bearing: 234.133940 deg, deltaT: 16.167496 s, approachRate: 14.287926 m/s, LOS rate: -0.021715 deg/s, posRepo size: 4
2021-08-15T02:01:57.957Z,1628992917.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 285.42 m. Resuming terminal guidance.
2021-08-15T02:01:57.958Z,1628992917.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T02:02:00.502Z,1628992920.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:02:00.837Z,1628992920.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:02:00.837Z,1628992920.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:02:00.837Z,1628992920.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:02:00.838Z,1628992920.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:02:01.257Z,1628992921.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,01506,184,80,80,85,FF
2021-08-15T02:02:01.258Z,1628992921.258 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:02:01.258Z,1628992921.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:02:01.259Z,1628992921.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:02:01.788Z,1628992921.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:02:02.582Z,1628992922.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,01540,183,80,80,7C,FF
2021-08-15T02:02:02.582Z,1628992922.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:02:02.585Z,1628992922.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020202.55*5C

2021-08-15T02:02:03.023Z,1628992923.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 288.899994 m, bearing: 230.847772 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T02:02:03.023Z,1628992923.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 230.847772deg and heading rate command to 0 deg/s.
2021-08-15T02:02:03.814Z,1628992923.814 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:02:05.454Z,1628992925.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:02:05.870Z,1628992925.870 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:02:05.871Z,1628992925.871 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:02:05.871Z,1628992925.871 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:02:05.872Z,1628992925.872 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:02:06.773Z,1628992926.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,01540,183,80,80,7C,FF
2021-08-15T02:02:06.773Z,1628992926.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:02:06.774Z,1628992926.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:02:06.775Z,1628992926.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:02:07.229Z,1628992927.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:02:08.001Z,1628992928.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,0157E,187,80,80,74,FF
2021-08-15T02:02:08.002Z,1628992928.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:02:08.004Z,1628992928.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020208.07*51

2021-08-15T02:02:08.849Z,1628992928.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 292.619995 m, bearing: 240.198383 deg, deltaT: 5.395760 s, approachRate: 0.689430 m/s, LOS rate: 1.732955 deg/s, posRepo size: 2
2021-08-15T02:02:08.851Z,1628992928.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 292.619995 m,
      bearing: 240.198383 deg,
      approachRate: 0.689430 m/s,
      LOS rate: 1.732955 deg/s,
      cmd update: 6.931821 deg/s,
      cmd heading: 230.847772 deg,
      new cmd heading: 230.847772 deg.

2021-08-15T02:02:10.710Z,1628992930.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:02:11.053Z,1628992931.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:02:11.053Z,1628992931.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:02:11.053Z,1628992931.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:02:11.054Z,1628992931.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:02:11.449Z,1628992931.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,0157E,187,80,80,74,FF
2021-08-15T02:02:11.449Z,1628992931.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:02:11.449Z,1628992931.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:02:11.451Z,1628992931.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:02:11.864Z,1628992931.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:02:12.714Z,1628992932.714 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020212.75*5F

2021-08-15T02:02:13.535Z,1628992933.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:02:14.737Z,1628992934.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,630157E,187,80,80,74,FF
2021-08-15T02:02:14.737Z,1628992934.737 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,630157E,187,80,80,74,FF
2021-08-15T02:02:14.737Z,1628992934.737 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:02:16.421Z,1628992936.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:02:16.781Z,1628992936.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:02:16.781Z,1628992936.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:02:16.781Z,1628992936.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:02:16.782Z,1628992936.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:02:17.238Z,1628992937.238 [DUSBL_Hydroid](INFO): DUSBL response received:,E4
!U1,P
0,630157E,187,80,80,74,FF
2021-08-15T02:02:17.238Z,1628992937.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:02:17.238Z,1628992937.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:02:17.240Z,1628992937.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:02:17.624Z,1628992937.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:02:18.419Z,1628992938.419 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,015F2,186,80,80,64,FF
2021-08-15T02:02:18.420Z,1628992938.420 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:02:18.427Z,1628992938.427 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020218.54*56

2021-08-15T02:02:19.081Z,1628992939.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 299.579987 m, bearing: 278.455693 deg, deltaT: 10.403875 s, approachRate: 0.668981 m/s, LOS rate: 3.677218 deg/s, posRepo size: 3
2021-08-15T02:02:19.089Z,1628992939.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 299.579987 m,
      bearing: 278.455693 deg,
      approachRate: 0.668981 m/s,
      LOS rate: 3.677218 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 302.964997 deg,
      new cmd heading: 306.928557 deg.

2021-08-15T02:02:21.377Z,1628992941.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:02:21.569Z,1628992941.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:02:21.569Z,1628992941.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:02:21.569Z,1628992941.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:02:21.570Z,1628992941.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:02:21.965Z,1628992941.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,015F2,186,80,80,64,FF
2021-08-15T02:02:21.966Z,1628992941.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:02:21.966Z,1628992941.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:02:21.967Z,1628992941.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:02:22.381Z,1628992942.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:02:23.233Z,1628992943.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,0161B,184,80,80,68,FF
2021-08-15T02:02:23.233Z,1628992943.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:02:23.236Z,1628992943.236 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020223.27*5A

2021-08-15T02:02:23.620Z,1628992943.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.039978 m, bearing: 281.513733 deg, deltaT: 4.806308 s, approachRate: 0.511826 m/s, LOS rate: 0.636255 deg/s, posRepo size: 4
2021-08-15T02:02:23.622Z,1628992943.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.039978 m,
      bearing: 281.513733 deg,
      approachRate: 0.511826 m/s,
      LOS rate: 0.636255 deg/s,
      cmd update: 2.545022 deg/s,
      cmd heading: 0.690291 deg,
      new cmd heading: 4.545963 deg.

2021-08-15T02:02:25.890Z,1628992945.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:02:26.045Z,1628992946.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:02:26.045Z,1628992946.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:02:26.045Z,1628992946.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:02:26.046Z,1628992946.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:02:26.469Z,1628992946.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,0161B,184,80,80,68,FF
2021-08-15T02:02:26.469Z,1628992946.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:02:26.469Z,1628992946.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:02:26.471Z,1628992946.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:02:26.864Z,1628992946.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:02:27.689Z,1628992947.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29D,000,01632,189,80,80,6B,FF
2021-08-15T02:02:27.689Z,1628992947.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:02:27.693Z,1628992947.693 [Micromodem](INFO): Nmea in: $SNTTA,0.204658,,,,020227.77*48

2021-08-15T02:02:28.166Z,1628992948.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 303.420013 m, bearing: 273.510745 deg, deltaT: 4.633314 s, approachRate: 0.297851 m/s, LOS rate: -1.727271 deg/s, posRepo size: 4
2021-08-15T02:02:28.170Z,1628992948.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 303.420013 m,
      bearing: 273.510745 deg,
      approachRate: 0.297851 m/s,
      LOS rate: -1.727271 deg/s,
      cmd update: -6.909083 deg/s,
      cmd heading: 12.481982 deg,
      new cmd heading: 13.075670 deg.

2021-08-15T02:02:30.555Z,1628992950.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:02:30.947Z,1628992950.947 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:02:30.947Z,1628992950.947 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:02:30.947Z,1628992950.947 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:02:30.947Z,1628992950.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:02:31.349Z,1628992951.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29D,000,01632,189,80,80,6B,FF
2021-08-15T02:02:31.349Z,1628992951.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:02:31.349Z,1628992951.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:02:31.351Z,1628992951.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:02:31.753Z,1628992951.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:02:32.577Z,1628992952.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,0163C,187,80,80,9B,FF
2021-08-15T02:02:32.577Z,1628992952.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:02:32.580Z,1628992952.580 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020232.65*5C

2021-08-15T02:02:33.043Z,1628992953.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 304.019989 m, bearing: 353.488326 deg, deltaT: 4.663652 s, approachRate: 0.128649 m/s, LOS rate: 17.149131 deg/s, posRepo size: 4
2021-08-15T02:02:33.044Z,1628992953.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.149131 deg/s. Setting heading cmd to target bearing of 353.488326deg and heading rate command to 0 deg/s.
2021-08-15T02:02:35.475Z,1628992955.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:02:35.824Z,1628992955.824 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:02:35.824Z,1628992955.824 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:02:35.824Z,1628992955.824 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:02:35.825Z,1628992955.825 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:02:36.225Z,1628992956.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,0163C,187,80,80,9B,FF
2021-08-15T02:02:36.225Z,1628992956.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:02:36.225Z,1628992956.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:02:36.227Z,1628992956.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:02:36.636Z,1628992956.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:02:37.433Z,1628992957.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C65,000,01638,189,80,80,A1,FF
2021-08-15T02:02:37.433Z,1628992957.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:02:37.461Z,1628992957.461 [Micromodem](INFO): Nmea in: $SNTTA,0.358647,0.358653,,,020237.52*58

2021-08-15T02:02:37.902Z,1628992957.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 303.779999 m, bearing: 29.788982 deg, deltaT: 4.911692 s, approachRate: -0.048861 m/s, LOS rate: 7.390665 deg/s, posRepo size: 4
2021-08-15T02:02:37.904Z,1628992957.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 303.779999 m,
      bearing: 29.788982 deg,
      approachRate: -0.048861 m/s,
      LOS rate: 7.390665 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 353.488326 deg,
      new cmd heading: 353.488326 deg.

2021-08-15T02:02:40.514Z,1628992960.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:02:40.679Z,1628992960.679 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:02:40.680Z,1628992960.680 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:02:40.681Z,1628992960.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:02:40.682Z,1628992960.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:02:41.085Z,1628992961.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C65,000,01638,189,80,80,A1,FF
2021-08-15T02:02:41.085Z,1628992961.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:02:41.085Z,1628992961.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:02:41.087Z,1628992961.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:02:41.481Z,1628992961.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:02:42.317Z,1628992962.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01627,188,80,80,7E,FF
2021-08-15T02:02:42.317Z,1628992962.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:02:42.320Z,1628992962.320 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020242.38*53

2021-08-15T02:02:42.770Z,1628992962.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.760010 m, bearing: 64.893743 deg, deltaT: 4.852747 s, approachRate: -0.210188 m/s, LOS rate: 7.233998 deg/s, posRepo size: 4
2021-08-15T02:02:42.772Z,1628992962.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.760010 m,
      bearing: 64.893743 deg,
      approachRate: -0.210188 m/s,
      LOS rate: 7.233998 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 51.432584 deg,
      new cmd heading: 56.639648 deg.

2021-08-15T02:02:44.963Z,1628992964.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:02:45.173Z,1628992965.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:02:45.174Z,1628992965.174 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:02:45.174Z,1628992965.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:02:45.192Z,1628992965.192 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:02:45.217Z,1628992965.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01627,188,80,80,7E,FF
2021-08-15T02:02:45.217Z,1628992965.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:02:45.217Z,1628992965.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:02:45.219Z,1628992965.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:02:45.596Z,1628992965.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:02:46.403Z,1628992966.403 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CBB,000,01610,189,80,80,9F,FF
2021-08-15T02:02:46.404Z,1628992966.404 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:02:46.415Z,1628992966.415 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020246.52*5B

2021-08-15T02:02:47.040Z,1628992967.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 301.380005 m, bearing: 58.393008 deg, deltaT: 4.112207 s, approachRate: -0.335587 m/s, LOS rate: -1.580838 deg/s, posRepo size: 4
2021-08-15T02:02:47.042Z,1628992967.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.380005 m,
      bearing: 58.393008 deg,
      approachRate: -0.335587 m/s,
      LOS rate: -1.580838 deg/s,
      cmd update: -6.323354 deg/s,
      cmd heading: 101.019801 deg,
      new cmd heading: 107.882194 deg.

2021-08-15T02:02:47.261Z,1628992967.261 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T02:02:47.880Z,1628992967.880 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 06411861360000005D00000400260000000000000000151D80030C5669C08C79984CE12DF48B04B5BAEFEF77F3BFA534339D7A7C429E0E1BA2850000
2021-08-15T02:02:47.881Z,1628992967.881 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T02:02:48.133Z,1628992968.133 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T02:02:48.525Z,1628992968.525 [Micromodem](INFO): Nmea in: $CADRQ,020249,1,10,0,64,1*7B

2021-08-15T02:02:48.525Z,1628992968.525 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861360000005D00000400260000000000000000151D80030C5669C08C79984CE12DF48B04B5BAEFEF77F3BFA534339D7A7C429E0E1BA2850000*40

2021-08-15T02:02:48.926Z,1628992968.926 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T02:02:48.980Z,1628992968.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:02:49.337Z,1628992969.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:02:49.337Z,1628992969.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:02:49.337Z,1628992969.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:02:49.337Z,1628992969.337 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:02:49.351Z,1628992969.351 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T02:02:49.730Z,1628992969.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CBB,000,01610,189,80,80,9F,FF
2021-08-15T02:02:49.730Z,1628992969.730 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:02:49.730Z,1628992969.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:02:49.732Z,1628992969.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:02:50.566Z,1628992970.566 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T02:02:50.566Z,1628992970.566 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T02:02:50.953Z,1628992970.953 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,020249.844195,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5D

2021-08-15T02:02:50.953Z,1628992970.953 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,020249.844195,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5D

2021-08-15T02:02:51.599Z,1628992971.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:02:53.054Z,1628992973.054 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T02:02:53.055Z,1628992973.055 [Micromodem](INFO): Sent 52 bytes from file Logs/20210814T221742/Courier0054.lzma.parts
2021-08-15T02:02:53.055Z,1628992973.055 [Micromodem](INFO): Packets left to send: 0
2021-08-15T02:02:53.457Z,1628992973.457 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815020253.063415,06,32767,45,0155,0150,22,01,01,00,01,1,010,001,0,4,1,0,150,15.8,10.76,19,-7.76,-01,-0.74,38,14500,4000*76

2021-08-15T02:02:53.458Z,1628992973.458 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815020253.063415,06,32767,45,0155,0150,22,01,01,00,01,1,010,001,0,4,1,0,150,15.8,10.76,19,-7.76,-01,-0.74,38,14500,4000*76

2021-08-15T02:02:53.681Z,1628992973.681 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 06411861390000005D00000400260000000000000000151D80030C5669C08C7998396466205515EB2D733ED15C9DB65839CFA26E018F6F3588B42000
2021-08-15T02:02:54.480Z,1628992974.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:02:55.695Z,1628992975.695 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.349737
2021-08-15T02:02:57.375Z,1628992977.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:02:57.693Z,1628992977.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:02:57.693Z,1628992977.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:02:57.693Z,1628992977.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:02:57.694Z,1628992977.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:02:58.081Z,1628992978.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CBB,000,01610,189,80,80,9F,FF
2021-08-15T02:02:58.081Z,1628992978.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:02:58.082Z,1628992978.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:02:59.950Z,1628992979.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:03:00.745Z,1628992980.745 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:03:01.141Z,1628992981.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:03:01.161Z,1628992981.161 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T02:03:01.530Z,1628992981.530 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T02:03:01.952Z,1628992981.952 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,01579,187,80,80,78,FF
2021-08-15T02:03:01.953Z,1628992981.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:03:01.956Z,1628992981.956 [Micromodem](INFO): Nmea in: $CADRQ,020302,1,10,0,64,1*75

2021-08-15T02:03:01.956Z,1628992981.956 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861390000005D00000400260000000000000000151D80030C5669C08C7998396466205515EB2D733ED15C9DB65839CFA26E018F6F3588B42000*45

2021-08-15T02:03:02.349Z,1628992982.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020302.04*59

2021-08-15T02:03:02.349Z,1628992982.349 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,020302.04*59

2021-08-15T02:03:02.407Z,1628992982.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 292.319977 m, bearing: 61.006778 deg, deltaT: 15.608355 s, approachRate: -0.580460 m/s, LOS rate: 0.167460 deg/s, posRepo size: 4
2021-08-15T02:03:02.413Z,1628992982.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 292.319977 m,
      bearing: 61.006778 deg,
      approachRate: -0.580460 m/s,
      LOS rate: 0.167460 deg/s,
      cmd update: 0.669839 deg/s,
      cmd heading: 2.322722 deg,
      new cmd heading: 0.233107 deg.

2021-08-15T02:03:03.565Z,1628992983.565 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T02:03:03.997Z,1628992983.997 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T02:03:04.380Z,1628992984.380 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T02:03:04.783Z,1628992984.783 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,020303.272648,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5A

2021-08-15T02:03:05.038Z,1628992985.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:03:05.281Z,1628992985.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:03:05.281Z,1628992985.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:03:05.281Z,1628992985.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:03:05.282Z,1628992985.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:03:05.633Z,1628992985.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,01579,187,80,80,78,FF
2021-08-15T02:03:05.633Z,1628992985.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:03:05.634Z,1628992985.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:03:05.635Z,1628992985.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:03:06.044Z,1628992986.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:03:06.873Z,1628992986.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D89,000,017E5,189,80,80,9F,FF
2021-08-15T02:03:06.873Z,1628992986.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:03:06.876Z,1628992986.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020306.93*53

2021-08-15T02:03:07.437Z,1628992987.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 329.519989 m, bearing: 64.195896 deg, deltaT: 5.117018 s, approachRate: 7.269862 m/s, LOS rate: 0.623238 deg/s, posRepo size: 4
2021-08-15T02:03:07.439Z,1628992987.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 329.519989 m,
      bearing: 64.195896 deg,
      approachRate: 7.269862 m/s,
      LOS rate: 0.623238 deg/s,
      cmd update: 2.492950 deg/s,
      cmd heading: 5.747390 deg,
      new cmd heading: 5.913361 deg.

2021-08-15T02:03:09.847Z,1628992989.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:03:10.231Z,1628992990.231 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:03:10.233Z,1628992990.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:03:10.234Z,1628992990.234 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:03:10.235Z,1628992990.235 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:03:10.598Z,1628992990.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D89,000,017E5,189,80,80,9F,FF
2021-08-15T02:03:10.598Z,1628992990.598 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:03:10.598Z,1628992990.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:03:10.599Z,1628992990.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:03:11.016Z,1628992991.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:03:11.855Z,1628992991.855 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B65,000,0151C,189,80,80,83,FF
2021-08-15T02:03:11.855Z,1628992991.855 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:03:11.858Z,1628992991.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020311.90*56

2021-08-15T02:03:12.302Z,1628992992.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 286.739990 m, bearing: 75.684158 deg, deltaT: 4.720548 s, approachRate: -9.062507 m/s, LOS rate: 2.433671 deg/s, posRepo size: 4
2021-08-15T02:03:12.305Z,1628992992.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 286.739990 m,
      bearing: 75.684158 deg,
      approachRate: -9.062507 m/s,
      LOS rate: 2.433671 deg/s,
      cmd update: 9.734685 deg/s,
      cmd heading: 17.513696 deg,
      new cmd heading: 18.489210 deg.

2021-08-15T02:03:14.464Z,1628992994.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:03:14.813Z,1628992994.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:03:14.813Z,1628992994.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:03:14.813Z,1628992994.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:03:14.814Z,1628992994.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:03:15.246Z,1628992995.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B65,000,0151C,189,80,80,83,FF
2021-08-15T02:03:15.246Z,1628992995.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:03:15.247Z,1628992995.247 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:03:15.248Z,1628992995.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:03:15.620Z,1628992995.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:03:16.436Z,1628992996.436 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C42,000,014F8,188,80,80,AD,FF
2021-08-15T02:03:16.437Z,1628992996.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:03:16.452Z,1628992996.452 [Micromodem](INFO): Nmea in: $SNTTA,0.345714,,,,020316.54*47

2021-08-15T02:03:16.903Z,1628992996.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 284.579987 m, bearing: 67.649028 deg, deltaT: 4.573830 s, approachRate: -0.472253 m/s, LOS rate: -1.756762 deg/s, posRepo size: 4
2021-08-15T02:03:16.910Z,1628992996.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.579987 m,
      bearing: 67.649028 deg,
      approachRate: -0.472253 m/s,
      LOS rate: -1.756762 deg/s,
      cmd update: -7.027048 deg/s,
      cmd heading: 62.087126 deg,
      new cmd heading: 66.134370 deg.

2021-08-15T02:03:19.334Z,1628992999.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:03:19.688Z,1628992999.688 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:03:19.688Z,1628992999.688 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:03:19.688Z,1628992999.688 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:03:19.689Z,1628992999.689 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:03:20.060Z,1628993000.060 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C42,000,014F8,188,80,80,AD,FF
2021-08-15T02:03:20.060Z,1628993000.060 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:03:20.061Z,1628993000.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:03:20.063Z,1628993000.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:03:20.609Z,1628993000.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:03:21.030Z,1628993001.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B6,000,014CD,186,80,80,AD,FF
2021-08-15T02:03:21.031Z,1628993001.031 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:03:21.433Z,1628993001.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020321.36*59

2021-08-15T02:03:21.514Z,1628993001.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 282.000000 m, bearing: 13.622201 deg, deltaT: 4.693454 s, approachRate: -0.549699 m/s, LOS rate: -11.511102 deg/s, posRepo size: 4
2021-08-15T02:03:21.515Z,1628993001.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.511102 deg/s. Setting heading cmd to target bearing of 13.622201deg and heading rate command to 0 deg/s.
2021-08-15T02:03:23.885Z,1628993003.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:03:24.241Z,1628993004.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:03:24.241Z,1628993004.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:03:24.241Z,1628993004.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:03:24.242Z,1628993004.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:03:24.664Z,1628993004.664 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B6,000,014CD,186,80,80,AD,FF
2021-08-15T02:03:24.665Z,1628993004.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:03:24.665Z,1628993004.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:03:24.680Z,1628993004.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:03:25.277Z,1628993005.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:03:25.631Z,1628993005.631 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA7,000,014CD,186,80,80,AD,FF
2021-08-15T02:03:25.631Z,1628993005.631 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:03:25.635Z,1628993005.635 [Micromodem](INFO): Nmea in: 30*7E

2021-08-15T02:03:25.635Z,1628993005.635 [Micromodem](ERROR): Response from modem failed NMEA checksum: 30*7E
 expected 0
2021-08-15T02:03:26.111Z,1628993006.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 282.000000 m, bearing: 73.002332 deg, deltaT: 4.515577 s, approachRate: 0.000000 m/s, LOS rate: 13.150066 deg/s, posRepo size: 4
2021-08-15T02:03:26.112Z,1628993006.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.150066 deg/s. Setting heading cmd to target bearing of 73.002332deg and heading rate command to 0 deg/s.
2021-08-15T02:03:28.270Z,1628993008.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:03:28.617Z,1628993008.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:03:28.617Z,1628993008.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:03:28.617Z,1628993008.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:03:28.618Z,1628993008.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:03:29.033Z,1628993009.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA7,000,014CD,186,80,80,AD,FF
2021-08-15T02:03:29.033Z,1628993009.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:03:29.033Z,1628993009.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:03:29.036Z,1628993009.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:03:29.445Z,1628993009.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:03:30.255Z,1628993010.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C72,000,01474,188,80,80,9D,FF
2021-08-15T02:03:30.255Z,1628993010.255 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:03:30.258Z,1628993010.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020330.33*5C

2021-08-15T02:03:30.717Z,1628993010.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 276.659973 m, bearing: 72.839145 deg, deltaT: 4.572516 s, approachRate: -1.167853 m/s, LOS rate: -0.035689 deg/s, posRepo size: 4
2021-08-15T02:03:30.719Z,1628993010.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 276.659973 m,
      bearing: 72.839145 deg,
      approachRate: -1.167853 m/s,
      LOS rate: -0.035689 deg/s,
      cmd update: -0.142755 deg/s,
      cmd heading: 73.002332 deg,
      new cmd heading: 73.002332 deg.

2021-08-15T02:03:32.810Z,1628993012.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:03:33.128Z,1628993013.128 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:03:33.128Z,1628993013.128 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:03:33.129Z,1628993013.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:03:33.130Z,1628993013.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:03:33.605Z,1628993013.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C72,000,01474,188,80,80,9D,FF
2021-08-15T02:03:33.605Z,1628993013.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:03:33.605Z,1628993013.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:03:33.607Z,1628993013.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:03:34.004Z,1628993014.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:03:34.833Z,1628993014.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D31,000,0144D,18A,80,80,7F,FF
2021-08-15T02:03:34.834Z,1628993014.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:03:34.836Z,1628993014.836 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020334.90*51

2021-08-15T02:03:35.304Z,1628993015.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 274.320007 m, bearing: 69.185650 deg, deltaT: 4.617384 s, approachRate: -0.506773 m/s, LOS rate: -0.791248 deg/s, posRepo size: 4
2021-08-15T02:03:35.306Z,1628993015.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 274.320007 m,
      bearing: 69.185650 deg,
      approachRate: -0.506773 m/s,
      LOS rate: -0.791248 deg/s,
      cmd update: -3.164992 deg/s,
      cmd heading: 72.344312 deg,
      new cmd heading: 72.284200 deg.

2021-08-15T02:03:37.490Z,1628993017.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:03:37.652Z,1628993017.652 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:03:37.652Z,1628993017.652 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:03:37.653Z,1628993017.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:03:37.655Z,1628993017.655 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:03:38.055Z,1628993018.055 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D31,000,0144D,18A,80,80,7F,FF
2021-08-15T02:03:38.055Z,1628993018.055 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:03:38.055Z,1628993018.055 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:03:38.057Z,1628993018.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:03:38.452Z,1628993018.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:03:39.297Z,1628993019.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,01423,186,80,80,B2,FF
2021-08-15T02:03:39.297Z,1628993019.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:03:39.319Z,1628993019.319 [Micromodem](INFO): Nmea in: $SNTTA,,0.445091,,,020339.35*40

2021-08-15T02:03:39.528Z,1628993019.528 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T02:03:39.861Z,1628993019.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.799988 m, bearing: 73.154564 deg, deltaT: 4.658932 s, approachRate: -0.540901 m/s, LOS rate: 0.851893 deg/s, posRepo size: 4
2021-08-15T02:03:39.863Z,1628993019.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.799988 m,
      bearing: 73.154564 deg,
      approachRate: -0.540901 m/s,
      LOS rate: 0.851893 deg/s,
      cmd update: 3.407574 deg/s,
      cmd heading: 57.580455 deg,
      new cmd heading: 56.600036 deg.

2021-08-15T02:03:42.252Z,1628993022.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:03:42.637Z,1628993022.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:03:42.637Z,1628993022.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:03:42.637Z,1628993022.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:03:42.638Z,1628993022.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:03:43.046Z,1628993023.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,01423,186,80,80,B2,FF
2021-08-15T02:03:43.046Z,1628993023.046 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:03:43.046Z,1628993023.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:03:43.047Z,1628993023.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:03:43.460Z,1628993023.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:03:43.845Z,1628993023.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,006FE,185,80,80,98,FF
2021-08-15T02:03:43.845Z,1628993023.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:03:44.346Z,1628993024.346 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020344.34*58

2021-08-15T02:03:44.365Z,1628993024.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.900002 m, bearing: 66.356101 deg, deltaT: 4.566209 s, approachRate: -44.216110 m/s, LOS rate: -1.488864 deg/s, posRepo size: 4
2021-08-15T02:03:44.367Z,1628993024.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.900002 m,
      bearing: 66.356101 deg,
      approachRate: -44.216110 m/s,
      LOS rate: -1.488864 deg/s,
      cmd update: -5.955455 deg/s,
      cmd heading: 73.147618 deg,
      new cmd heading: 73.995256 deg.

2021-08-15T02:03:46.817Z,1628993026.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:03:47.233Z,1628993027.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:03:47.233Z,1628993027.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:03:47.233Z,1628993027.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:03:47.234Z,1628993027.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:03:47.595Z,1628993027.595 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,006FE,185,80,80,98,FF
2021-08-15T02:03:47.595Z,1628993027.595 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:03:47.595Z,1628993027.595 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:03:47.598Z,1628993027.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:03:47.992Z,1628993027.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:03:48.805Z,1628993028.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,103,000,013B9,186,80,80,95,FF
2021-08-15T02:03:48.806Z,1628993028.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:03:48.808Z,1628993028.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020348.90*5A

2021-08-15T02:03:49.287Z,1628993029.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.440002 m, bearing: 62.869330 deg, deltaT: 4.764271 s, approachRate: 41.043007 m/s, LOS rate: -0.731858 deg/s, posRepo size: 4
2021-08-15T02:03:49.294Z,1628993029.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.440002 m,
      bearing: 62.869330 deg,
      approachRate: 41.043007 m/s,
      LOS rate: -0.731858 deg/s,
      cmd update: -2.927433 deg/s,
      cmd heading: 44.798599 deg,
      new cmd heading: 42.348388 deg.

2021-08-15T02:03:51.696Z,1628993031.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:03:52.029Z,1628993032.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:03:52.029Z,1628993032.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:03:52.029Z,1628993032.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:03:52.030Z,1628993032.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:03:52.425Z,1628993032.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
103,000,013B9,186,80,80,95,FF
2021-08-15T02:03:52.425Z,1628993032.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:03:52.425Z,1628993032.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:03:52.427Z,1628993032.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:03:52.989Z,1628993032.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:03:53.394Z,1628993033.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,01383,186,80,80,9E,FF
2021-08-15T02:03:53.395Z,1628993033.395 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:03:53.809Z,1628993033.809 [Micromodem](INFO): Nmea in: $SNTTA,0.185865,,,,020353.73*44

2021-08-15T02:03:53.871Z,1628993033.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.199982 m, bearing: 69.386246 deg, deltaT: 4.604995 s, approachRate: -0.703588 m/s, LOS rate: 1.415184 deg/s, posRepo size: 4
2021-08-15T02:03:53.873Z,1628993033.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.199982 m,
      bearing: 69.386246 deg,
      approachRate: -0.703588 m/s,
      LOS rate: 1.415184 deg/s,
      cmd update: 5.660737 deg/s,
      cmd heading: 31.329622 deg,
      new cmd heading: 30.175502 deg.

2021-08-15T02:03:56.384Z,1628993036.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:03:56.621Z,1628993036.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:03:56.621Z,1628993036.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:03:56.621Z,1628993036.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:03:56.622Z,1628993036.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:03:57.021Z,1628993037.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,01383,186,80,80,9E,FF
2021-08-15T02:03:57.021Z,1628993037.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:03:57.021Z,1628993037.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:03:57.023Z,1628993037.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:03:57.592Z,1628993037.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:03:57.962Z,1628993037.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFE,000,01351,186,80,80,9E,FF
2021-08-15T02:03:57.962Z,1628993037.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:03:58.389Z,1628993038.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020358.32*53

2021-08-15T02:03:58.442Z,1628993038.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 259.199982 m, bearing: 70.504737 deg, deltaT: 4.532376 s, approachRate: -0.661905 m/s, LOS rate: 0.246778 deg/s, posRepo size: 4
2021-08-15T02:03:58.444Z,1628993038.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.199982 m,
      bearing: 70.504737 deg,
      approachRate: -0.661905 m/s,
      LOS rate: 0.246778 deg/s,
      cmd update: 0.987112 deg/s,
      cmd heading: 56.915896 deg,
      new cmd heading: 59.437149 deg.

2021-08-15T02:03:58.798Z,1628993038.798 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T02:03:59.415Z,1628993039.415 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 06411861390000005D00000400260000000000000000151D80030C5669C08C7998396466205515EB2D733ED15C9DB65839CFA26E018F6F3588B42000
2021-08-15T02:03:59.415Z,1628993039.415 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T02:03:59.895Z,1628993039.895 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T02:04:00.289Z,1628993040.289 [Micromodem](INFO): Nmea in: $CADRQ,020400,1,10,0,64,1*70

2021-08-15T02:04:00.289Z,1628993040.289 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,06411861390000005D00000400260000000000000000151D80030C5669C08C7998396466205515EB2D733ED15C9DB65839CFA26E018F6F3588B42000*45

2021-08-15T02:04:00.715Z,1628993040.715 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T02:04:00.862Z,1628993040.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:04:01.077Z,1628993041.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:04:01.077Z,1628993041.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:04:01.077Z,1628993041.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:04:01.078Z,1628993041.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:04:01.085Z,1628993041.085 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T02:04:01.481Z,1628993041.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFE,000,01351,186,80,80,9E,FF
2021-08-15T02:04:01.481Z,1628993041.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:04:01.481Z,1628993041.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:04:01.483Z,1628993041.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:04:02.311Z,1628993042.311 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T02:04:02.311Z,1628993042.311 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T02:04:02.727Z,1628993042.727 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,020401.609904,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*50

2021-08-15T02:04:02.727Z,1628993042.727 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,020401.609904,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*50

2021-08-15T02:04:03.801Z,1628993043.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:04:04.755Z,1628993044.755 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T02:04:04.764Z,1628993044.764 [Micromodem](INFO): Sent 52 bytes from file Logs/20210814T221742/Courier0057.lzma.parts
2021-08-15T02:04:04.764Z,1628993044.764 [Micromodem](INFO): Packets left to send: 0
2021-08-15T02:04:05.214Z,1628993045.214 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815020404.770686,06,32767,45,0160,0150,22,01,01,00,01,1,010,001,0,4,1,0,150,17.8,11.30,23,-8.30,-01,-0.78,37,14500,4000*7F

2021-08-15T02:04:05.214Z,1628993045.214 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815020404.770686,06,32767,45,0160,0150,22,01,01,00,01,1,010,001,0,4,1,0,150,17.8,11.30,23,-8.30,-01,-0.78,37,14500,4000*7F

2021-08-15T02:04:05.489Z,1628993045.489 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T02:04:05.489Z,1628993045.489 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T02:04:05.489Z,1628993045.489 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T02:04:05.489Z,1628993045.489 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T02:04:05.489Z,1628993045.489 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T02:04:06.571Z,1628993046.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:04:07.344Z,1628993047.344 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.265889
2021-08-15T02:04:09.392Z,1628993049.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:04:09.757Z,1628993049.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:04:09.757Z,1628993049.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:04:09.757Z,1628993049.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:04:09.758Z,1628993049.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:04:09.792Z,1628993049.792 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFE,000,01351,186,80,80,9E,FF
2021-08-15T02:04:09.792Z,1628993049.792 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:04:09.792Z,1628993049.792 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:04:12.203Z,1628993052.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:04:12.582Z,1628993052.582 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:04:12.992Z,1628993052.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:04:13.423Z,1628993053.423 [Micromodem](INFO): Nmea in: $SNTTA,0.293290,0.293415,,,020413.88*51

2021-08-15T02:04:13.805Z,1628993053.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,012A5,186,80,80,51,FF
2021-08-15T02:04:13.805Z,1628993053.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:04:14.237Z,1628993054.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.879990 m, bearing: 63.187446 deg, deltaT: 15.850886 s, approachRate: -0.651067 m/s, LOS rate: -0.461633 deg/s, posRepo size: 4
2021-08-15T02:04:14.239Z,1628993054.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.879990 m,
      bearing: 63.187446 deg,
      approachRate: -0.651067 m/s,
      LOS rate: -0.461633 deg/s,
      cmd update: -1.846532 deg/s,
      cmd heading: 72.575040 deg,
      new cmd heading: 72.946378 deg.

2021-08-15T02:04:16.651Z,1628993056.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:04:17.041Z,1628993057.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:04:17.041Z,1628993057.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:04:17.042Z,1628993057.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:04:17.043Z,1628993057.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:04:17.425Z,1628993057.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,012A5,186,80,80,51,FF
2021-08-15T02:04:17.426Z,1628993057.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:04:17.426Z,1628993057.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:04:17.427Z,1628993057.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:04:17.913Z,1628993057.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:04:18.757Z,1628993058.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,109,000,01271,185,80,80,77,FF
2021-08-15T02:04:18.757Z,1628993058.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:04:18.760Z,1628993058.760 [Micromodem](INFO): Nmea in: $SNTTA,0.347954,,,,020418.72*42

2021-08-15T02:04:19.199Z,1628993059.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.759995 m, bearing: 62.952208 deg, deltaT: 4.917580 s, approachRate: -0.634457 m/s, LOS rate: -0.047836 deg/s, posRepo size: 4
2021-08-15T02:04:19.205Z,1628993059.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.759995 m,
      bearing: 62.952208 deg,
      approachRate: -0.634457 m/s,
      LOS rate: -0.047836 deg/s,
      cmd update: -0.191345 deg/s,
      cmd heading: 63.480020 deg,
      new cmd heading: 62.717097 deg.

2021-08-15T02:04:21.551Z,1628993061.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:04:21.945Z,1628993061.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:04:21.945Z,1628993061.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:04:21.945Z,1628993061.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:04:21.946Z,1628993061.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:04:22.337Z,1628993062.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
109,000,01271,185,80,80,77,FF
2021-08-15T02:04:22.337Z,1628993062.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:04:22.337Z,1628993062.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:04:22.339Z,1628993062.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:04:22.754Z,1628993062.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:04:23.582Z,1628993063.582 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020423.64*5B

2021-08-15T02:04:24.371Z,1628993064.371 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,03ECF,186,80,80,7F,FF
2021-08-15T02:04:24.371Z,1628993064.371 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:04:24.813Z,1628993064.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 927.239990 m, bearing: 65.888171 deg, deltaT: 5.633834 s, approachRate: 120.962029 m/s, LOS rate: 0.521131 deg/s, posRepo size: 4
2021-08-15T02:04:24.815Z,1628993064.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 927.239990 m,
      bearing: 65.888171 deg,
      approachRate: 120.962029 m/s,
      LOS rate: 0.521131 deg/s,
      cmd update: 2.084523 deg/s,
      cmd heading: 62.402769 deg,
      new cmd heading: 62.329853 deg.

2021-08-15T02:04:27.259Z,1628993067.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:04:27.585Z,1628993067.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:04:27.586Z,1628993067.586 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:04:27.586Z,1628993067.586 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:04:27.587Z,1628993067.587 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:04:27.993Z,1628993067.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,03ECF,186,80,80,7F,FF
2021-08-15T02:04:27.993Z,1628993067.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:04:27.994Z,1628993067.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:04:27.995Z,1628993067.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:04:28.407Z,1628993068.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:04:29.238Z,1628993069.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,01203,187,80,80,96,FF
2021-08-15T02:04:29.239Z,1628993069.239 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:04:29.243Z,1628993069.243 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020429.29*58

2021-08-15T02:04:29.697Z,1628993069.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.159988 m, bearing: 63.981968 deg, deltaT: 4.895805 s, approachRate: -140.544815 m/s, LOS rate: -0.389354 deg/s, posRepo size: 4
2021-08-15T02:04:29.699Z,1628993069.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.159988 m,
      bearing: 63.981968 deg,
      approachRate: -140.544815 m/s,
      LOS rate: -0.389354 deg/s,
      cmd update: -1.557418 deg/s,
      cmd heading: 72.616570 deg,
      new cmd heading: 73.412905 deg.

2021-08-15T02:04:32.082Z,1628993072.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:04:32.437Z,1628993072.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:04:32.437Z,1628993072.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:04:32.437Z,1628993072.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:04:32.438Z,1628993072.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:04:32.849Z,1628993072.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,01203,187,80,80,96,FF
2021-08-15T02:04:32.849Z,1628993072.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:04:32.849Z,1628993072.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:04:32.851Z,1628993072.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:04:33.293Z,1628993073.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:04:34.053Z,1628993074.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F2,000,011CB,186,80,80,71,FF
2021-08-15T02:04:34.054Z,1628993074.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:04:34.496Z,1628993074.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.799988 m, bearing: 63.773135 deg, deltaT: 4.796653 s, approachRate: -0.700489 m/s, LOS rate: -0.043537 deg/s, posRepo size: 4
2021-08-15T02:04:34.498Z,1628993074.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.799988 m,
      bearing: 63.773135 deg,
      approachRate: -0.700489 m/s,
      LOS rate: -0.043537 deg/s,
      cmd update: -0.174149 deg/s,
      cmd heading: 65.155810 deg,
      new cmd heading: 64.548322 deg.

2021-08-15T02:04:36.935Z,1628993076.935 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T02:04:36.964Z,1628993076.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:04:37.285Z,1628993077.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:04:37.285Z,1628993077.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:04:37.285Z,1628993077.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:04:37.286Z,1628993077.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:04:37.733Z,1628993077.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F2,000,011CB,186,80,80,71,FF
2021-08-15T02:04:37.733Z,1628993077.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:04:37.733Z,1628993077.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:04:37.734Z,1628993077.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:04:38.102Z,1628993078.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:04:38.915Z,1628993078.915 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,01195,186,80,80,9F,FF
2021-08-15T02:04:38.940Z,1628993078.940 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:04:38.943Z,1628993078.943 [Micromodem](INFO): Nmea in: $SNTTA,0.154790,,,,020439.03*41

2021-08-15T02:04:39.365Z,1628993079.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.559998 m, bearing: 64.132614 deg, deltaT: 4.899247 s, approachRate: -0.661324 m/s, LOS rate: 0.073374 deg/s, posRepo size: 4
2021-08-15T02:04:39.367Z,1628993079.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.559998 m,
      bearing: 64.132614 deg,
      approachRate: -0.661324 m/s,
      LOS rate: 0.073374 deg/s,
      cmd update: 0.293498 deg/s,
      cmd heading: 64.303616 deg,
      new cmd heading: 64.240097 deg.

2021-08-15T02:04:41.518Z,1628993081.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:04:41.737Z,1628993081.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:04:41.737Z,1628993081.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:04:41.737Z,1628993081.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:04:41.738Z,1628993081.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:04:42.195Z,1628993082.195 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,01195,186,80,80,9F,FF
2021-08-15T02:04:42.195Z,1628993082.195 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:04:42.195Z,1628993082.195 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:04:42.197Z,1628993082.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:04:42.562Z,1628993082.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:04:43.357Z,1628993083.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,076,000,01154,186,80,80,4C,FF
2021-08-15T02:04:43.358Z,1628993083.358 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:04:43.365Z,1628993083.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020443.50*5A

2021-08-15T02:04:43.795Z,1628993083.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.659988 m, bearing: 64.549693 deg, deltaT: 4.437692 s, approachRate: -0.878837 m/s, LOS rate: 0.093985 deg/s, posRepo size: 4
2021-08-15T02:04:43.813Z,1628993083.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.659988 m,
      bearing: 64.549693 deg,
      approachRate: -0.878837 m/s,
      LOS rate: 0.093985 deg/s,
      cmd update: 0.375942 deg/s,
      cmd heading: 65.609429 deg,
      new cmd heading: 65.711153 deg.

2021-08-15T02:04:46.208Z,1628993086.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:04:46.605Z,1628993086.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:04:46.605Z,1628993086.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:04:46.605Z,1628993086.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:04:46.606Z,1628993086.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:04:47.001Z,1628993087.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
076,000,01154,186,80,80,4C,FF
2021-08-15T02:04:47.001Z,1628993087.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:04:47.001Z,1628993087.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:04:47.003Z,1628993087.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:04:47.409Z,1628993087.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:04:48.241Z,1628993088.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,01127,186,80,80,98,FF
2021-08-15T02:04:48.241Z,1628993088.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:04:48.244Z,1628993088.244 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020448.30*57

2021-08-15T02:04:48.636Z,1628993088.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.959991 m, bearing: 64.276533 deg, deltaT: 4.816248 s, approachRate: -0.560602 m/s, LOS rate: -0.056716 deg/s, posRepo size: 4
2021-08-15T02:04:48.638Z,1628993088.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.959991 m,
      bearing: 64.276533 deg,
      approachRate: -0.560602 m/s,
      LOS rate: -0.056716 deg/s,
      cmd update: -0.226865 deg/s,
      cmd heading: 67.420088 deg,
      new cmd heading: 67.559621 deg.

2021-08-15T02:04:51.078Z,1628993091.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:04:51.437Z,1628993091.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:04:51.437Z,1628993091.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:04:51.437Z,1628993091.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:04:51.438Z,1628993091.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:04:51.837Z,1628993091.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,01127,186,80,80,98,FF
2021-08-15T02:04:51.837Z,1628993091.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:04:51.837Z,1628993091.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:04:51.839Z,1628993091.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:04:52.264Z,1628993092.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:04:53.085Z,1628993093.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,010EF,186,80,80,7A,FF
2021-08-15T02:04:53.085Z,1628993093.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:04:53.115Z,1628993093.115 [Micromodem](INFO): Nmea in: $SNTTA,0.150436,,,,020453.14*40

2021-08-15T02:04:53.516Z,1628993093.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.599991 m, bearing: 63.348543 deg, deltaT: 4.936330 s, approachRate: -0.680668 m/s, LOS rate: -0.187992 deg/s, posRepo size: 4
2021-08-15T02:04:53.518Z,1628993093.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.599991 m,
      bearing: 63.348543 deg,
      approachRate: -0.680668 m/s,
      LOS rate: -0.187992 deg/s,
      cmd update: -0.751968 deg/s,
      cmd heading: 66.300139 deg,
      new cmd heading: 66.228825 deg.

2021-08-15T02:04:55.933Z,1628993095.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:04:56.293Z,1628993096.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:04:56.293Z,1628993096.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:04:56.293Z,1628993096.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:04:56.294Z,1628993096.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:04:56.721Z,1628993096.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,010EF,186,80,80,7A,FF
2021-08-15T02:04:56.721Z,1628993096.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:04:56.721Z,1628993096.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:04:56.723Z,1628993096.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:04:57.102Z,1628993097.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:04:57.908Z,1628993097.908 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,010AE,186,80,80,7A,FF
2021-08-15T02:04:57.909Z,1628993097.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:04:57.926Z,1628993097.926 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020458.02*57

2021-08-15T02:04:58.344Z,1628993098.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.699997 m, bearing: 65.728201 deg, deltaT: 4.782557 s, approachRate: -0.815462 m/s, LOS rate: 0.497570 deg/s, posRepo size: 4
2021-08-15T02:04:58.346Z,1628993098.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.699997 m,
      bearing: 65.728201 deg,
      approachRate: -0.815462 m/s,
      LOS rate: 0.497570 deg/s,
      cmd update: 1.990281 deg/s,
      cmd heading: 62.706705 deg,
      new cmd heading: 62.433230 deg.

2021-08-15T02:05:00.902Z,1628993100.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:05:01.165Z,1628993101.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:05:01.165Z,1628993101.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:05:01.166Z,1628993101.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:05:01.167Z,1628993101.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:05:01.541Z,1628993101.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,010AE,186,80,80,7A,FF
2021-08-15T02:05:01.541Z,1628993101.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:05:01.541Z,1628993101.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:05:01.543Z,1628993101.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:05:01.945Z,1628993101.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:05:02.789Z,1628993102.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,01076,186,80,80,80,FF
2021-08-15T02:05:02.789Z,1628993102.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:05:02.812Z,1628993102.812 [Micromodem](INFO): Nmea in: $SNTTA,0.146123,,,,020502.84*4A

2021-08-15T02:05:03.240Z,1628993103.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.339981 m, bearing: 65.598530 deg, deltaT: 4.874561 s, approachRate: -0.689296 m/s, LOS rate: -0.026602 deg/s, posRepo size: 4
2021-08-15T02:05:03.242Z,1628993103.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.339981 m,
      bearing: 65.598530 deg,
      approachRate: -0.689296 m/s,
      LOS rate: -0.026602 deg/s,
      cmd update: -0.106406 deg/s,
      cmd heading: 72.384399 deg,
      new cmd heading: 73.175578 deg.

2021-08-15T02:05:05.599Z,1628993105.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:05:05.985Z,1628993105.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:05:05.985Z,1628993105.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:05:05.985Z,1628993105.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:05:05.986Z,1628993105.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:05:06.385Z,1628993106.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,01076,186,80,80,80,FF
2021-08-15T02:05:06.385Z,1628993106.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:05:06.385Z,1628993106.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:05:06.387Z,1628993106.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:05:06.796Z,1628993106.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:05:07.633Z,1628993107.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E5,000,0103F,187,80,80,92,FF
2021-08-15T02:05:07.633Z,1628993107.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:05:07.655Z,1628993107.655 [Micromodem](INFO): Nmea in: $SNTTA,0.318823,,,,020507.68*4D

2021-08-15T02:05:08.026Z,1628993108.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 212.039993 m, bearing: 64.082542 deg, deltaT: 4.878186 s, approachRate: -0.676478 m/s, LOS rate: -0.310769 deg/s, posRepo size: 4
2021-08-15T02:05:08.028Z,1628993108.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.039993 m,
      bearing: 64.082542 deg,
      approachRate: -0.676478 m/s,
      LOS rate: -0.310769 deg/s,
      cmd update: -1.243075 deg/s,
      cmd heading: 71.864150 deg,
      new cmd heading: 71.832902 deg.

2021-08-15T02:05:10.447Z,1628993110.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:05:10.837Z,1628993110.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:05:10.837Z,1628993110.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:05:10.837Z,1628993110.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:05:10.838Z,1628993110.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:05:11.229Z,1628993111.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E5,000,0103F,187,80,80,92,FF
2021-08-15T02:05:11.229Z,1628993111.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:05:11.229Z,1628993111.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:05:11.231Z,1628993111.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:05:11.646Z,1628993111.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:05:12.477Z,1628993112.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,108,000,01006,185,80,80,99,FF
2021-08-15T02:05:12.477Z,1628993112.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:05:12.480Z,1628993112.480 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020512.53*5C

2021-08-15T02:05:12.888Z,1628993112.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.619980 m, bearing: 63.383199 deg, deltaT: 4.793009 s, approachRate: -0.713542 m/s, LOS rate: -0.145909 deg/s, posRepo size: 4
2021-08-15T02:05:12.890Z,1628993112.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.619980 m,
      bearing: 63.383199 deg,
      approachRate: -0.713542 m/s,
      LOS rate: -0.145909 deg/s,
      cmd update: -0.583636 deg/s,
      cmd heading: 65.899979 deg,
      new cmd heading: 65.454925 deg.

2021-08-15T02:05:15.362Z,1628993115.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:05:15.716Z,1628993115.716 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:05:15.716Z,1628993115.716 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:05:15.717Z,1628993115.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:05:15.717Z,1628993115.717 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:05:16.121Z,1628993116.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
108,000,01006,185,80,80,99,FF
2021-08-15T02:05:16.121Z,1628993116.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:05:16.122Z,1628993116.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:05:16.123Z,1628993116.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:05:16.530Z,1628993116.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:05:16.944Z,1628993116.944 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T02:05:17.342Z,1628993117.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,00FCC,186,80,80,A3,FF
2021-08-15T02:05:17.342Z,1628993117.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:05:17.366Z,1628993117.366 [Micromodem](INFO): Nmea in: $SNTTA,0.365093,0.410293,,,020517.42*5E

2021-08-15T02:05:17.783Z,1628993117.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.139999 m, bearing: 65.357923 deg, deltaT: 4.896964 s, approachRate: -0.710640 m/s, LOS rate: 0.403255 deg/s, posRepo size: 4
2021-08-15T02:05:17.785Z,1628993117.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.139999 m,
      bearing: 65.357923 deg,
      approachRate: -0.710640 m/s,
      LOS rate: 0.403255 deg/s,
      cmd update: 1.613019 deg/s,
      cmd heading: 63.044250 deg,
      new cmd heading: 62.834197 deg.

2021-08-15T02:05:20.180Z,1628993120.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:05:20.573Z,1628993120.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:05:20.573Z,1628993120.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:05:20.573Z,1628993120.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:05:20.574Z,1628993120.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:05:20.965Z,1628993120.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,00FCC,186,80,80,A3,FF
2021-08-15T02:05:20.965Z,1628993120.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:05:20.965Z,1628993120.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:05:20.967Z,1628993120.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:05:21.381Z,1628993121.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:05:22.197Z,1628993122.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,00F96,186,80,80,A0,FF
2021-08-15T02:05:22.197Z,1628993122.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:05:22.200Z,1628993122.200 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020522.27*5C

2021-08-15T02:05:22.625Z,1628993122.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.899994 m, bearing: 65.482198 deg, deltaT: 4.794052 s, approachRate: -0.675839 m/s, LOS rate: 0.025923 deg/s, posRepo size: 4
2021-08-15T02:05:22.632Z,1628993122.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.899994 m,
      bearing: 65.482198 deg,
      approachRate: -0.675839 m/s,
      LOS rate: 0.025923 deg/s,
      cmd update: 0.103691 deg/s,
      cmd heading: 70.783327 deg,
      new cmd heading: 71.436076 deg.

2021-08-15T02:05:25.048Z,1628993125.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:05:25.425Z,1628993125.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:05:25.425Z,1628993125.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:05:25.425Z,1628993125.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:05:25.426Z,1628993125.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:05:25.817Z,1628993125.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,00F96,186,80,80,A0,FF
2021-08-15T02:05:25.817Z,1628993125.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:05:25.817Z,1628993125.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:05:25.819Z,1628993125.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:05:26.227Z,1628993126.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:05:27.061Z,1628993127.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,00F5C,186,80,80,9D,FF
2021-08-15T02:05:27.061Z,1628993127.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:05:27.064Z,1628993127.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020527.12*5F

2021-08-15T02:05:27.492Z,1628993127.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.419983 m, bearing: 64.232151 deg, deltaT: 4.972263 s, approachRate: -0.699885 m/s, LOS rate: -0.251404 deg/s, posRepo size: 4
2021-08-15T02:05:27.494Z,1628993127.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.419983 m,
      bearing: 64.232151 deg,
      approachRate: -0.699885 m/s,
      LOS rate: -0.251404 deg/s,
      cmd update: -1.005617 deg/s,
      cmd heading: 71.298066 deg,
      new cmd heading: 71.329870 deg.

2021-08-15T02:05:29.895Z,1628993129.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:05:30.265Z,1628993130.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:05:30.265Z,1628993130.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:05:30.266Z,1628993130.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:05:30.267Z,1628993130.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:05:30.687Z,1628993130.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,00F5C,186,80,80,9D,FF
2021-08-15T02:05:30.687Z,1628993130.687 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:05:30.687Z,1628993130.687 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:05:30.689Z,1628993130.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:05:31.063Z,1628993131.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:05:31.867Z,1628993131.867 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,00F23,186,80,80,A5,FF
2021-08-15T02:05:31.869Z,1628993131.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:05:31.876Z,1628993131.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020531.99*5B

2021-08-15T02:05:32.314Z,1628993132.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.000000 m, bearing: 63.058506 deg, deltaT: 4.773440 s, approachRate: -0.716461 m/s, LOS rate: -0.245870 deg/s, posRepo size: 4
2021-08-15T02:05:32.316Z,1628993132.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.000000 m,
      bearing: 63.058506 deg,
      approachRate: -0.716461 m/s,
      LOS rate: -0.245870 deg/s,
      cmd update: -0.983479 deg/s,
      cmd heading: 66.489540 deg,
      new cmd heading: 66.140103 deg.

2021-08-15T02:05:34.770Z,1628993134.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:05:35.098Z,1628993135.098 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:05:35.098Z,1628993135.098 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:05:35.098Z,1628993135.098 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:05:35.099Z,1628993135.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:05:35.505Z,1628993135.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,00F23,186,80,80,A5,FF
2021-08-15T02:05:35.505Z,1628993135.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:05:35.505Z,1628993135.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:05:35.507Z,1628993135.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:05:35.958Z,1628993135.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:05:36.342Z,1628993136.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,00F23,186,80,80,A5,FF
2021-08-15T02:05:36.342Z,1628993136.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:05:36.774Z,1628993136.774 [Micromodem](INFO): Nmea in: $SNTTA,0.132582,,,,020536.81*44

2021-08-15T02:05:36.827Z,1628993136.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.000000 m, bearing: 65.088213 deg, deltaT: 4.422446 s, approachRate: 0.000000 m/s, LOS rate: 0.458956 deg/s, posRepo size: 4
2021-08-15T02:05:36.830Z,1628993136.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.000000 m,
      bearing: 65.088213 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.458956 deg/s,
      cmd update: 1.835823 deg/s,
      cmd heading: 62.164517 deg,
      new cmd heading: 61.709114 deg.

2021-08-15T02:05:39.279Z,1628993139.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:05:39.569Z,1628993139.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:05:39.569Z,1628993139.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:05:39.569Z,1628993139.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:05:39.570Z,1628993139.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:05:39.981Z,1628993139.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,00F23,186,80,80,A5,FF
2021-08-15T02:05:39.982Z,1628993139.982 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:05:39.982Z,1628993139.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:05:39.983Z,1628993139.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:05:40.412Z,1628993140.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:05:41.225Z,1628993141.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,064,000,00EB9,186,80,80,AA,FF
2021-08-15T02:05:41.225Z,1628993141.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:05:41.228Z,1628993141.228 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020541.28*56

2021-08-15T02:05:41.632Z,1628993141.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.639984 m, bearing: 65.740755 deg, deltaT: 4.922797 s, approachRate: -1.291952 m/s, LOS rate: 0.132555 deg/s, posRepo size: 4
2021-08-15T02:05:41.634Z,1628993141.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.639984 m,
      bearing: 65.740755 deg,
      approachRate: -1.291952 m/s,
      LOS rate: 0.132555 deg/s,
      cmd update: 0.530221 deg/s,
      cmd heading: 71.246958 deg,
      new cmd heading: 71.834452 deg.

2021-08-15T02:05:44.045Z,1628993144.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:05:44.421Z,1628993144.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:05:44.422Z,1628993144.422 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:05:44.422Z,1628993144.422 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:05:44.423Z,1628993144.423 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:05:44.821Z,1628993144.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
064,000,00EB9,186,80,80,AA,FF
2021-08-15T02:05:44.821Z,1628993144.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:05:44.821Z,1628993144.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:05:44.823Z,1628993144.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:05:45.236Z,1628993145.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:05:45.638Z,1628993145.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,064,000,00EB9,186,80,80,AA,FF
2021-08-15T02:05:45.638Z,1628993145.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:05:46.073Z,1628993146.073 [Micromodem](INFO): Nmea in: $SNTTA,0.098421,,,,020546.12*40

2021-08-15T02:05:46.117Z,1628993146.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.639984 m, bearing: 69.053984 deg, deltaT: 4.398607 s, approachRate: 0.000000 m/s, LOS rate: 0.753245 deg/s, posRepo size: 4
2021-08-15T02:05:46.119Z,1628993146.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.639984 m,
      bearing: 69.053984 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.753245 deg/s,
      cmd update: 3.012980 deg/s,
      cmd heading: 73.571723 deg,
      new cmd heading: 73.794604 deg.

2021-08-15T02:05:48.479Z,1628993148.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:05:48.869Z,1628993148.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:05:48.869Z,1628993148.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:05:48.870Z,1628993148.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:05:48.870Z,1628993148.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:05:49.278Z,1628993149.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
064,000,00EB9,186,80,80,AA,FF
2021-08-15T02:05:49.278Z,1628993149.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:05:49.278Z,1628993149.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:05:49.280Z,1628993149.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:05:49.697Z,1628993149.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:05:50.510Z,1628993150.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020550.58*51

2021-08-15T02:05:51.335Z,1628993151.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:05:52.905Z,1628993152.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,AA,FF
2021-08-15T02:05:52.905Z,1628993152.905 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,AA,FF
2021-08-15T02:05:52.905Z,1628993152.905 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:05:54.163Z,1628993154.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:05:54.521Z,1628993154.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:05:54.521Z,1628993154.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:05:54.522Z,1628993154.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:05:54.523Z,1628993154.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:05:54.930Z,1628993154.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,AA,FF
2021-08-15T02:05:54.930Z,1628993154.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:05:54.930Z,1628993154.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:05:54.931Z,1628993154.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:05:55.337Z,1628993155.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:05:55.746Z,1628993155.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32380,63,E4
9,186,80,80,AA,FF
2021-08-15T02:05:55.747Z,1628993155.747 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,32380,63,E4
9,186,80,80,AA,FF
2021-08-15T02:05:56.164Z,1628993156.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020556.23*5B

2021-08-15T02:05:56.989Z,1628993156.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:05:59.809Z,1628993159.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:06:00.592Z,1628993160.592 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.069558
2021-08-15T02:06:02.632Z,1628993162.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:06:03.013Z,1628993163.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:06:03.013Z,1628993163.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:06:03.013Z,1628993163.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:06:03.014Z,1628993163.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:06:03.417Z,1628993163.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32380,63,E4
9,186,80,80,AA,FF
2021-08-15T02:06:03.417Z,1628993163.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:06:03.417Z,1628993163.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:06:03.419Z,1628993163.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:06:03.869Z,1628993163.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:06:04.270Z,1628993164.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00DD3,189,80,80,BB,FF
2021-08-15T02:06:04.270Z,1628993164.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:06:04.687Z,1628993164.687 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020604.72*5B

2021-08-15T02:06:04.736Z,1628993164.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.840012 m, bearing: 57.029528 deg, deltaT: 18.603451 s, approachRate: -0.741796 m/s, LOS rate: -0.646356 deg/s, posRepo size: 4
2021-08-15T02:06:04.738Z,1628993164.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.840012 m,
      bearing: 57.029528 deg,
      approachRate: -0.741796 m/s,
      LOS rate: -0.646356 deg/s,
      cmd update: -2.585425 deg/s,
      cmd heading: 129.655076 deg,
      new cmd heading: 130.937801 deg.

2021-08-15T02:06:07.189Z,1628993167.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:06:07.489Z,1628993167.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:06:07.489Z,1628993167.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:06:07.489Z,1628993167.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:06:07.490Z,1628993167.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:06:07.893Z,1628993167.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00DD3,189,80,80,BB,FF
2021-08-15T02:06:07.893Z,1628993167.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:06:07.894Z,1628993167.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:06:07.895Z,1628993167.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:06:08.300Z,1628993168.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:06:08.739Z,1628993168.739 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D53,000,00DBC,18A,80,80,C2,FF
2021-08-15T02:06:08.739Z,1628993168.739 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:06:09.166Z,1628993169.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020609.19*5B

2021-08-15T02:06:09.225Z,1628993169.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.460007 m, bearing: 165.769634 deg, deltaT: 4.453862 s, approachRate: -0.309845 m/s, LOS rate: 24.414791 deg/s, posRepo size: 4
2021-08-15T02:06:09.226Z,1628993169.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.414791 deg/s. Setting heading cmd to target bearing of 165.769634deg and heading rate command to 0 deg/s.
2021-08-15T02:06:11.547Z,1628993171.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:06:11.941Z,1628993171.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:06:11.941Z,1628993171.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:06:11.941Z,1628993171.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:06:11.942Z,1628993171.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:06:12.342Z,1628993172.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D53,000,00DBC,18A,80,80,C2,FF
2021-08-15T02:06:12.342Z,1628993172.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:06:12.342Z,1628993172.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:06:12.344Z,1628993172.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:06:12.745Z,1628993172.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:06:13.178Z,1628993173.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3B,000,00DB7,189,80,80,C2,FF
2021-08-15T02:06:13.178Z,1628993173.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:06:13.581Z,1628993173.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020613.64*5A

2021-08-15T02:06:13.615Z,1628993173.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.160004 m, bearing: 164.016912 deg, deltaT: 4.493860 s, approachRate: -0.066758 m/s, LOS rate: -0.390026 deg/s, posRepo size: 4
2021-08-15T02:06:13.617Z,1628993173.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.160004 m,
      bearing: 164.016912 deg,
      approachRate: -0.066758 m/s,
      LOS rate: -0.390026 deg/s,
      cmd update: -1.560104 deg/s,
      cmd heading: 165.769634 deg,
      new cmd heading: 165.769634 deg.

2021-08-15T02:06:15.999Z,1628993175.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:06:16.381Z,1628993176.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:06:16.382Z,1628993176.382 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:06:16.382Z,1628993176.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:06:16.383Z,1628993176.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:06:16.781Z,1628993176.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3B,000,00DB7,189,80,80,C2,FF
2021-08-15T02:06:16.781Z,1628993176.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:06:16.781Z,1628993176.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:06:16.783Z,1628993176.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:06:17.229Z,1628993177.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:06:17.594Z,1628993177.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,00DB7,189,80,80,C2,FF
2021-08-15T02:06:17.594Z,1628993177.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:06:18.025Z,1628993178.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020618.08*5B

2021-08-15T02:06:18.074Z,1628993178.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.160004 m, bearing: 176.759995 deg, deltaT: 4.355657 s, approachRate: 0.000000 m/s, LOS rate: 2.925640 deg/s, posRepo size: 4
2021-08-15T02:06:18.076Z,1628993178.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.160004 m,
      bearing: 176.759995 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.925640 deg/s,
      cmd update: 11.702559 deg/s,
      cmd heading: 158.971150 deg,
      new cmd heading: 158.256406 deg.

2021-08-15T02:06:20.466Z,1628993180.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:06:20.821Z,1628993180.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:06:20.821Z,1628993180.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:06:20.821Z,1628993180.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:06:20.822Z,1628993180.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:06:21.238Z,1628993181.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,00DB7,189,80,80,C2,FF
2021-08-15T02:06:21.238Z,1628993181.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:06:21.239Z,1628993181.239 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:06:21.240Z,1628993181.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:06:21.637Z,1628993181.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:06:22.034Z,1628993182.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,00DB7,189,80,80,C2,FF
2021-08-15T02:06:22.034Z,1628993182.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:06:22.477Z,1628993182.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020622.54*5B

2021-08-15T02:06:22.507Z,1628993182.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.160004 m, bearing: 193.290050 deg, deltaT: 4.475739 s, approachRate: 0.000000 m/s, LOS rate: 3.693257 deg/s, posRepo size: 4
2021-08-15T02:06:22.510Z,1628993182.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.160004 m,
      bearing: 193.290050 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.693257 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 211.086801 deg,
      new cmd heading: 216.219111 deg.

2021-08-15T02:06:24.911Z,1628993184.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:06:25.265Z,1628993185.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:06:25.265Z,1628993185.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:06:25.265Z,1628993185.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:06:25.266Z,1628993185.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:06:25.705Z,1628993185.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,00DB7,189,80,80,C2,FF
2021-08-15T02:06:25.705Z,1628993185.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:06:25.705Z,1628993185.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:06:25.707Z,1628993185.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:06:26.189Z,1628993186.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:06:26.585Z,1628993186.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,295,000,00DB2,188,80,80,C3,FF
2021-08-15T02:06:26.585Z,1628993186.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:06:27.002Z,1628993187.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020627.01*5E

2021-08-15T02:06:27.032Z,1628993187.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.860001 m, bearing: 144.093045 deg, deltaT: 4.509881 s, approachRate: -0.066521 m/s, LOS rate: -10.908715 deg/s, posRepo size: 4
2021-08-15T02:06:27.034Z,1628993187.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.860001 m,
      bearing: 144.093045 deg,
      approachRate: -0.066521 m/s,
      LOS rate: -10.908715 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 265.494286 deg,
      new cmd heading: 270.640198 deg.

2021-08-15T02:06:29.449Z,1628993189.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:06:29.805Z,1628993189.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:06:29.805Z,1628993189.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:06:29.805Z,1628993189.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:06:29.806Z,1628993189.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:06:30.226Z,1628993190.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
295,000,00DB2,188,80,80,C3,FF
2021-08-15T02:06:30.226Z,1628993190.226 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:06:30.226Z,1628993190.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:06:30.227Z,1628993190.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:06:30.617Z,1628993190.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:06:31.441Z,1628993191.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,245,000,00DCD,189,80,80,AC,FF
2021-08-15T02:06:31.441Z,1628993191.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:06:31.445Z,1628993191.445 [Micromodem](INFO): Nmea in: $SNTTA,0.207431,,,,020631.53*43

2021-08-15T02:06:31.864Z,1628993191.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.480011 m, bearing: 167.149264 deg, deltaT: 4.922821 s, approachRate: 0.329082 m/s, LOS rate: 4.683538 deg/s, posRepo size: 4
2021-08-15T02:06:31.866Z,1628993191.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.480011 m,
      bearing: 167.149264 deg,
      approachRate: 0.329082 m/s,
      LOS rate: 4.683538 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 206.465504 deg,
      new cmd heading: 202.363952 deg.

2021-08-15T02:06:34.287Z,1628993194.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:06:34.684Z,1628993194.684 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:06:34.684Z,1628993194.684 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:06:34.684Z,1628993194.684 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:06:34.685Z,1628993194.685 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:06:35.053Z,1628993195.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
245,000,00DCD,189,80,80,AC,FF
2021-08-15T02:06:35.053Z,1628993195.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:06:35.054Z,1628993195.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:06:35.055Z,1628993195.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:06:35.469Z,1628993195.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:06:35.874Z,1628993195.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,00DCD,189,80,80,AC,FF
2021-08-15T02:06:35.874Z,1628993195.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:06:36.317Z,1628993196.317 [Micromodem](INFO): Nmea in: $SNTTA,0.122620,,,,020636.36*41

2021-08-15T02:06:36.348Z,1628993196.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.480011 m, bearing: 234.914849 deg, deltaT: 4.410914 s, approachRate: 0.000000 m/s, LOS rate: 15.363162 deg/s, posRepo size: 4
2021-08-15T02:06:36.349Z,1628993196.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.363162 deg/s. Setting heading cmd to target bearing of 234.914849deg and heading rate command to 0 deg/s.
2021-08-15T02:06:38.761Z,1628993198.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:06:39.105Z,1628993199.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:06:39.105Z,1628993199.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:06:39.105Z,1628993199.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:06:39.106Z,1628993199.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:06:39.521Z,1628993199.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,00DCD,189,80,80,AC,FF
2021-08-15T02:06:39.521Z,1628993199.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:06:39.521Z,1628993199.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:06:39.522Z,1628993199.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:06:39.915Z,1628993199.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:06:40.334Z,1628993200.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,00DCD,189,80,80,AC,FF
2021-08-15T02:06:40.334Z,1628993200.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:06:40.765Z,1628993200.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020640.82*54

2021-08-15T02:06:40.902Z,1628993200.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.480011 m, bearing: 242.563322 deg, deltaT: 4.467010 s, approachRate: 0.000000 m/s, LOS rate: 1.712213 deg/s, posRepo size: 4
2021-08-15T02:06:40.904Z,1628993200.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.480011 m,
      bearing: 242.563322 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.712213 deg/s,
      cmd update: 6.848853 deg/s,
      cmd heading: 234.914849 deg,
      new cmd heading: 234.914849 deg.

2021-08-15T02:06:43.204Z,1628993203.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:06:43.551Z,1628993203.551 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:06:43.551Z,1628993203.551 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:06:43.551Z,1628993203.551 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:06:43.552Z,1628993203.552 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:06:43.945Z,1628993203.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,00DCD,189,80,80,AC,FF
2021-08-15T02:06:43.945Z,1628993203.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:06:43.945Z,1628993203.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:06:43.947Z,1628993203.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:06:44.360Z,1628993204.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:06:45.210Z,1628993205.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020645.25*5C

2021-08-15T02:06:46.037Z,1628993206.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:06:47.578Z,1628993207.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,AC,FF
2021-08-15T02:06:47.579Z,1628993207.579 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,AC,FF
2021-08-15T02:06:47.579Z,1628993207.579 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:06:48.821Z,1628993208.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:06:49.226Z,1628993209.226 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:06:49.226Z,1628993209.226 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:06:49.226Z,1628993209.226 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:06:49.227Z,1628993209.227 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:06:49.605Z,1628993209.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,AC,FF
2021-08-15T02:06:49.605Z,1628993209.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:06:49.605Z,1628993209.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:06:49.607Z,1628993209.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:06:50.013Z,1628993210.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:06:50.424Z,1628993210.424 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,00758,186,80,80,77,FF
2021-08-15T02:06:50.424Z,1628993210.424 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:06:50.854Z,1628993210.854 [Micromodem](INFO): Nmea in: $SNTTA,0.052003,,,,020650.91*4D

2021-08-15T02:06:50.915Z,1628993210.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.300003 m, bearing: 273.037386 deg, deltaT: 10.037796 s, approachRate: -9.880656 m/s, LOS rate: 3.035932 deg/s, posRepo size: 4
2021-08-15T02:06:50.919Z,1628993210.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.300003 m,
      bearing: 273.037386 deg,
      approachRate: -9.880656 m/s,
      LOS rate: 3.035932 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 303.838449 deg,
      new cmd heading: 307.078210 deg.

2021-08-15T02:06:53.329Z,1628993213.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:06:53.656Z,1628993213.656 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:06:53.657Z,1628993213.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:06:53.657Z,1628993213.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:06:53.659Z,1628993213.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:06:54.041Z,1628993214.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,00758,186,80,80,77,FF
2021-08-15T02:06:54.041Z,1628993214.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:06:54.041Z,1628993214.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:06:54.043Z,1628993214.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:06:54.457Z,1628993214.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:06:55.289Z,1628993215.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,00EC3,184,80,80,57,FF
2021-08-15T02:06:55.289Z,1628993215.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:06:55.292Z,1628993215.292 [Micromodem](INFO): Nmea in: $SNTTA,0.125648,,,,020655.34*4F

2021-08-15T02:06:55.739Z,1628993215.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.239990 m, bearing: 279.923091 deg, deltaT: 4.930331 s, approachRate: 23.110008 m/s, LOS rate: 1.396601 deg/s, posRepo size: 4
2021-08-15T02:06:55.743Z,1628993215.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.239990 m,
      bearing: 279.923091 deg,
      approachRate: 23.110008 m/s,
      LOS rate: 1.396601 deg/s,
      cmd update: 5.586404 deg/s,
      cmd heading: 2.954111 deg,
      new cmd heading: 7.395107 deg.

2021-08-15T02:06:58.143Z,1628993218.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:06:58.489Z,1628993218.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:06:58.489Z,1628993218.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:06:58.489Z,1628993218.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:06:58.490Z,1628993218.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:06:58.905Z,1628993218.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,00EC3,184,80,80,57,FF
2021-08-15T02:06:58.905Z,1628993218.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:06:58.905Z,1628993218.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:06:58.907Z,1628993218.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:06:59.313Z,1628993219.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:07:00.129Z,1628993220.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36E,000,00EDB,18A,80,80,29,FF
2021-08-15T02:07:00.129Z,1628993220.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:07:00.161Z,1628993220.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020700.21*58

2021-08-15T02:07:00.544Z,1628993220.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.679977 m, bearing: 261.977452 deg, deltaT: 4.827816 s, approachRate: 0.298269 m/s, LOS rate: -3.717134 deg/s, posRepo size: 4
2021-08-15T02:07:00.546Z,1628993220.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.679977 m,
      bearing: 261.977452 deg,
      approachRate: 0.298269 m/s,
      LOS rate: -3.717134 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 29.924273 deg,
      new cmd heading: 31.868074 deg.

2021-08-15T02:07:02.976Z,1628993222.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:07:03.341Z,1628993223.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:07:03.341Z,1628993223.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:07:03.341Z,1628993223.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:07:03.342Z,1628993223.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:07:03.741Z,1628993223.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36E,000,00EDB,18A,80,80,29,FF
2021-08-15T02:07:03.741Z,1628993223.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:07:03.741Z,1628993223.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:07:03.743Z,1628993223.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:07:04.151Z,1628993224.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:07:04.981Z,1628993224.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,00EDD,186,80,80,73,FF
2021-08-15T02:07:04.981Z,1628993224.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:07:05.001Z,1628993225.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020705.04*5A

2021-08-15T02:07:05.482Z,1628993225.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.799988 m, bearing: 355.111780 deg, deltaT: 4.942441 s, approachRate: 0.024282 m/s, LOS rate: 18.843792 deg/s, posRepo size: 4
2021-08-15T02:07:05.483Z,1628993225.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.843792 deg/s. Setting heading cmd to target bearing of 355.111780deg and heading rate command to 0 deg/s.
2021-08-15T02:07:07.821Z,1628993227.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:07:08.193Z,1628993228.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:07:08.193Z,1628993228.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:07:08.193Z,1628993228.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:07:08.194Z,1628993228.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:07:08.593Z,1628993228.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,00EDD,186,80,80,73,FF
2021-08-15T02:07:08.593Z,1628993228.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:07:08.593Z,1628993228.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:07:08.595Z,1628993228.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:07:09.004Z,1628993229.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:07:09.825Z,1628993229.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF9,000,00ED6,189,80,80,77,FF
2021-08-15T02:07:09.825Z,1628993229.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:07:09.829Z,1628993229.829 [Micromodem](INFO): Nmea in: $SNTTA,0.129859,,,,020709.90*4B

2021-08-15T02:07:10.246Z,1628993230.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.380005 m, bearing: 23.477100 deg, deltaT: 4.712638 s, approachRate: -0.089118 m/s, LOS rate: 6.018992 deg/s, posRepo size: 4
2021-08-15T02:07:10.248Z,1628993230.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.380005 m,
      bearing: 23.477100 deg,
      approachRate: -0.089118 m/s,
      LOS rate: 6.018992 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 355.111780 deg,
      new cmd heading: 355.111780 deg.

2021-08-15T02:07:12.694Z,1628993232.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:07:13.033Z,1628993233.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:07:13.033Z,1628993233.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:07:13.033Z,1628993233.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:07:13.034Z,1628993233.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:07:13.433Z,1628993233.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF9,000,00ED6,189,80,80,77,FF
2021-08-15T02:07:13.433Z,1628993233.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:07:13.434Z,1628993233.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:07:13.435Z,1628993233.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:07:13.852Z,1628993233.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:07:13.887Z,1628993233.887 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T02:07:14.687Z,1628993234.687 [Micromodem](INFO): Nmea in: $SNTTA,0.126162,,,,020714.74*43

2021-08-15T02:07:15.538Z,1628993235.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:07:16.269Z,1628993236.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,05EB5,189,80,80,93,FF
2021-08-15T02:07:16.269Z,1628993236.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:07:16.722Z,1628993236.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1417.200073 m, bearing: 59.963023 deg, deltaT: 6.463831 s, approachRate: 189.797668 m/s, LOS rate: 5.644628 deg/s, posRepo size: 4
2021-08-15T02:07:16.724Z,1628993236.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1417.200073 m,
      bearing: 59.963023 deg,
      approachRate: 189.797668 m/s,
      LOS rate: 5.644628 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 72.629466 deg,
      new cmd heading: 77.517270 deg.

2021-08-15T02:07:19.179Z,1628993239.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:07:19.501Z,1628993239.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:07:19.501Z,1628993239.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:07:19.501Z,1628993239.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:07:19.502Z,1628993239.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:07:19.909Z,1628993239.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,05EB5,189,80,80,93,FF
2021-08-15T02:07:19.909Z,1628993239.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:07:19.909Z,1628993239.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:07:19.911Z,1628993239.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:07:20.309Z,1628993240.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:07:21.142Z,1628993241.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C0D,000,00EAE,189,80,80,A2,FF
2021-08-15T02:07:21.143Z,1628993241.143 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:07:21.176Z,1628993241.176 [Micromodem](INFO): Nmea in: $SNTTA,0.139651,,,,020721.21*4C

2021-08-15T02:07:21.556Z,1628993241.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.979980 m, bearing: 65.990105 deg, deltaT: 4.921398 s, approachRate: -249.770508 m/s, LOS rate: 1.224669 deg/s, posRepo size: 4
2021-08-15T02:07:21.558Z,1628993241.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.979980 m,
      bearing: 65.990105 deg,
      approachRate: -249.770508 m/s,
      LOS rate: 1.224669 deg/s,
      cmd update: 4.898674 deg/s,
      cmd heading: 131.734339 deg,
      new cmd heading: 135.522895 deg.

2021-08-15T02:07:23.997Z,1628993243.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:07:24.354Z,1628993244.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:07:24.354Z,1628993244.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:07:24.355Z,1628993244.355 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:07:24.356Z,1628993244.356 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:07:24.749Z,1628993244.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C0D,000,00EAE,189,80,80,A2,FF
2021-08-15T02:07:24.749Z,1628993244.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:07:24.749Z,1628993244.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:07:24.751Z,1628993244.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:07:25.207Z,1628993245.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:07:25.997Z,1628993245.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D79,000,00E8A,18A,80,80,87,FF
2021-08-15T02:07:25.997Z,1628993245.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:07:26.000Z,1628993246.000 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020726.05*5A

2021-08-15T02:07:26.400Z,1628993246.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.820007 m, bearing: 65.773424 deg, deltaT: 4.786113 s, approachRate: -0.451300 m/s, LOS rate: -0.045273 deg/s, posRepo size: 4
2021-08-15T02:07:26.402Z,1628993246.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.820007 m,
      bearing: 65.773424 deg,
      approachRate: -0.451300 m/s,
      LOS rate: -0.045273 deg/s,
      cmd update: -0.181091 deg/s,
      cmd heading: 155.180105 deg,
      new cmd heading: 157.009657 deg.

2021-08-15T02:07:28.841Z,1628993248.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:07:29.225Z,1628993249.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:07:29.225Z,1628993249.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:07:29.225Z,1628993249.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:07:29.226Z,1628993249.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:07:29.597Z,1628993249.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D79,000,00E8A,18A,80,80,87,FF
2021-08-15T02:07:29.597Z,1628993249.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:07:29.597Z,1628993249.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:07:29.599Z,1628993249.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:07:30.016Z,1628993250.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:07:30.829Z,1628993250.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,00E5C,186,80,80,BA,FF
2021-08-15T02:07:30.829Z,1628993250.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:07:30.832Z,1628993250.832 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020730.90*51

2021-08-15T02:07:31.294Z,1628993251.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.059998 m, bearing: 71.672611 deg, deltaT: 4.857262 s, approachRate: -0.568223 m/s, LOS rate: 1.214509 deg/s, posRepo size: 4
2021-08-15T02:07:31.297Z,1628993251.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.059998 m,
      bearing: 71.672611 deg,
      approachRate: -0.568223 m/s,
      LOS rate: 1.214509 deg/s,
      cmd update: 4.858034 deg/s,
      cmd heading: 154.304154 deg,
      new cmd heading: 154.226084 deg.

2021-08-15T02:07:33.699Z,1628993253.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:07:34.056Z,1628993254.056 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:07:34.056Z,1628993254.056 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:07:34.056Z,1628993254.056 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:07:34.057Z,1628993254.057 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:07:34.454Z,1628993254.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,00E5C,186,80,80,BA,FF
2021-08-15T02:07:34.454Z,1628993254.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:07:34.455Z,1628993254.455 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:07:34.457Z,1628993254.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:07:34.859Z,1628993254.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:07:35.701Z,1628993255.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,00E28,183,80,80,A8,FF
2021-08-15T02:07:35.701Z,1628993255.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:07:35.724Z,1628993255.724 [Micromodem](INFO): Nmea in: $SNTTA,0.286485,,,,020735.76*47

2021-08-15T02:07:36.136Z,1628993256.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.940002 m, bearing: 67.572468 deg, deltaT: 4.868374 s, approachRate: -0.640870 m/s, LOS rate: -0.842199 deg/s, posRepo size: 4
2021-08-15T02:07:36.139Z,1628993256.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.940002 m,
      bearing: 67.572468 deg,
      approachRate: -0.640870 m/s,
      LOS rate: -0.842199 deg/s,
      cmd update: -3.368798 deg/s,
      cmd heading: 178.051805 deg,
      new cmd heading: 179.839790 deg.

2021-08-15T02:07:38.526Z,1628993258.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:07:38.901Z,1628993258.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:07:38.901Z,1628993258.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:07:38.901Z,1628993258.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:07:38.902Z,1628993258.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:07:39.301Z,1628993259.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,00E28,183,80,80,A8,FF
2021-08-15T02:07:39.301Z,1628993259.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:07:39.301Z,1628993259.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:07:39.303Z,1628993259.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:07:39.740Z,1628993259.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:07:40.554Z,1628993260.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,263,000,00DF7,189,80,80,A0,FF
2021-08-15T02:07:40.554Z,1628993260.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:07:40.557Z,1628993260.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020740.60*59

2021-08-15T02:07:40.955Z,1628993260.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.000015 m, bearing: 58.775588 deg, deltaT: 4.821338 s, approachRate: -0.609787 m/s, LOS rate: -1.824573 deg/s, posRepo size: 4
2021-08-15T02:07:40.957Z,1628993260.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.000015 m,
      bearing: 58.775588 deg,
      approachRate: -0.609787 m/s,
      LOS rate: -1.824573 deg/s,
      cmd update: -7.298290 deg/s,
      cmd heading: 161.810181 deg,
      new cmd heading: 160.523280 deg.

2021-08-15T02:07:43.371Z,1628993263.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:07:43.745Z,1628993263.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:07:43.745Z,1628993263.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:07:43.746Z,1628993263.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:07:43.747Z,1628993263.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:07:44.142Z,1628993264.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
263,000,00DF7,189,80,80,A0,FF
2021-08-15T02:07:44.142Z,1628993264.142 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:07:44.142Z,1628993264.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:07:44.145Z,1628993264.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:07:44.567Z,1628993264.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:07:44.946Z,1628993264.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,363,000,00DF7,189,80,80,A0,FF
2021-08-15T02:07:44.947Z,1628993264.947 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:07:45.392Z,1628993265.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020745.45*5B

2021-08-15T02:07:45.402Z,1628993265.402 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T02:07:45.415Z,1628993265.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.000015 m, bearing: 63.505357 deg, deltaT: 4.450065 s, approachRate: 0.000000 m/s, LOS rate: 1.062854 deg/s, posRepo size: 4
2021-08-15T02:07:45.418Z,1628993265.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.000015 m,
      bearing: 63.505357 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.062854 deg/s,
      cmd update: 4.251416 deg/s,
      cmd heading: 129.359421 deg,
      new cmd heading: 126.466415 deg.

2021-08-15T02:07:47.847Z,1628993267.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:07:48.185Z,1628993268.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:07:48.185Z,1628993268.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:07:48.185Z,1628993268.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:07:48.186Z,1628993268.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:07:48.598Z,1628993268.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
363,000,00DF7,189,80,80,A0,FF
2021-08-15T02:07:48.598Z,1628993268.598 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:07:48.598Z,1628993268.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:07:48.601Z,1628993268.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:07:48.989Z,1628993268.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:07:49.391Z,1628993269.391 [Micromodem](INFO): Nmea in: $SNTTA,0.117091,0.119534,,,020749.90*5B

2021-08-15T02:07:49.805Z,1628993269.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00DAD,189,80,80,BA,FF
2021-08-15T02:07:49.806Z,1628993269.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:07:50.259Z,1628993270.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.559998 m, bearing: 58.638356 deg, deltaT: 4.810842 s, approachRate: -0.922919 m/s, LOS rate: -1.011674 deg/s, posRepo size: 4
2021-08-15T02:07:50.262Z,1628993270.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.559998 m,
      bearing: 58.638356 deg,
      approachRate: -0.922919 m/s,
      LOS rate: -1.011674 deg/s,
      cmd update: -4.046694 deg/s,
      cmd heading: 149.829214 deg,
      new cmd heading: 151.634991 deg.

2021-08-15T02:07:52.708Z,1628993272.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:07:53.029Z,1628993273.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:07:53.029Z,1628993273.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:07:53.029Z,1628993273.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:07:53.030Z,1628993273.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:07:53.442Z,1628993273.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00DAD,189,80,80,BA,FF
2021-08-15T02:07:53.442Z,1628993273.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:07:53.442Z,1628993273.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:07:53.443Z,1628993273.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:07:53.856Z,1628993273.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:07:54.245Z,1628993274.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6C,000,00545,189,80,80,B4,FF
2021-08-15T02:07:54.246Z,1628993274.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:07:54.694Z,1628993274.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020754.75*58

2021-08-15T02:07:54.720Z,1628993274.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.439999 m, bearing: 170.699104 deg, deltaT: 4.454867 s, approachRate: -28.984030 m/s, LOS rate: 25.154678 deg/s, posRepo size: 4
2021-08-15T02:07:54.721Z,1628993274.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 25.154678 deg/s. Setting heading cmd to target bearing of 170.699104deg and heading rate command to 0 deg/s.
2021-08-15T02:07:57.099Z,1628993277.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:07:57.485Z,1628993277.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:07:57.485Z,1628993277.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:07:57.485Z,1628993277.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:07:57.486Z,1628993277.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:07:57.881Z,1628993277.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6C,000,00545,189,80,80,B4,FF
2021-08-15T02:07:57.881Z,1628993277.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:07:57.881Z,1628993277.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:07:57.883Z,1628993277.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:07:58.293Z,1628993278.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:07:58.721Z,1628993278.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D52,000,0021A,189,80,80,B8,FF
2021-08-15T02:07:58.721Z,1628993278.721 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-15T02:07:59.149Z,1628993279.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020759.19*5F

2021-08-15T02:07:59.947Z,1628993279.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:08:02.771Z,1628993282.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:08:03.148Z,1628993283.148 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:08:03.149Z,1628993283.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:08:03.150Z,1628993283.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:08:03.151Z,1628993283.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:08:03.537Z,1628993283.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D52,000,0021A,189,80,80,B8,FF
2021-08-15T02:08:03.537Z,1628993283.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:08:03.537Z,1628993283.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:08:03.539Z,1628993283.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:08:03.953Z,1628993283.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:08:04.349Z,1628993284.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0021A,189,80,80,B8,FF
2021-08-15T02:08:04.350Z,1628993284.350 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-15T02:08:04.781Z,1628993284.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020804.84*5C

2021-08-15T02:08:05.596Z,1628993285.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:08:08.408Z,1628993288.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:08:08.789Z,1628993288.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:08:08.789Z,1628993288.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:08:08.789Z,1628993288.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:08:08.790Z,1628993288.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:08:09.228Z,1628993289.228 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0021A,189,80,80,B8,FF
2021-08-15T02:08:09.228Z,1628993289.228 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:08:09.229Z,1628993289.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:08:09.230Z,1628993289.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:08:09.606Z,1628993289.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:08:10.419Z,1628993290.419 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31F,000,00D97,188,80,80,BF,FF
2021-08-15T02:08:10.420Z,1628993290.420 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:08:10.455Z,1628993290.455 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020810.53*53

2021-08-15T02:08:10.862Z,1628993290.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.240005 m, bearing: 130.117904 deg, deltaT: 16.210308 s, approachRate: 7.883873 m/s, LOS rate: -2.503420 deg/s, posRepo size: 4
2021-08-15T02:08:10.864Z,1628993290.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.240005 m,
      bearing: 130.117904 deg,
      approachRate: 7.883873 m/s,
      LOS rate: -2.503420 deg/s,
      cmd update: -10.013678 deg/s,
      cmd heading: 170.699104 deg,
      new cmd heading: 170.699104 deg.

2021-08-15T02:08:13.281Z,1628993293.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:08:13.641Z,1628993293.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:08:13.641Z,1628993293.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:08:13.641Z,1628993293.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:08:13.642Z,1628993293.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:08:14.049Z,1628993294.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31F,000,00D97,188,80,80,BF,FF
2021-08-15T02:08:14.049Z,1628993294.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:08:14.049Z,1628993294.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:08:14.051Z,1628993294.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:08:14.461Z,1628993294.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:08:14.862Z,1628993294.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,268,000,00D97,188,80,80,BF,FF
2021-08-15T02:08:14.862Z,1628993294.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:08:15.285Z,1628993295.285 [Micromodem](INFO): Nmea in: $SNTTA,0.121759,0.483605,,,020815.35*53

2021-08-15T02:08:15.333Z,1628993295.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.240005 m, bearing: 136.371735 deg, deltaT: 4.419324 s, approachRate: 0.000000 m/s, LOS rate: 1.415110 deg/s, posRepo size: 4
2021-08-15T02:08:15.335Z,1628993295.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.240005 m,
      bearing: 136.371735 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.415110 deg/s,
      cmd update: 5.660441 deg/s,
      cmd heading: 126.443764 deg,
      new cmd heading: 122.291082 deg.

2021-08-15T02:08:17.762Z,1628993297.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:08:18.085Z,1628993298.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:08:18.085Z,1628993298.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:08:18.085Z,1628993298.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:08:18.086Z,1628993298.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:08:18.494Z,1628993298.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
268,000,00D97,188,80,80,BF,FF
2021-08-15T02:08:18.494Z,1628993298.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:08:18.494Z,1628993298.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:08:18.496Z,1628993298.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:08:18.900Z,1628993298.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:08:19.298Z,1628993299.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,508,000,00D97,188,80,80,BF,FF
2021-08-15T02:08:19.298Z,1628993299.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:08:19.757Z,1628993299.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020819.80*54

2021-08-15T02:08:19.783Z,1628993299.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.240005 m, bearing: 86.138951 deg, deltaT: 4.448703 s, approachRate: 0.000000 m/s, LOS rate: -11.291557 deg/s, posRepo size: 4
2021-08-15T02:08:19.786Z,1628993299.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.240005 m,
      bearing: 86.138951 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -11.291557 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 151.626103 deg,
      new cmd heading: 153.982227 deg.

2021-08-15T02:08:22.156Z,1628993302.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:08:22.525Z,1628993302.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:08:22.525Z,1628993302.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:08:22.525Z,1628993302.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:08:22.526Z,1628993302.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:08:22.925Z,1628993302.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
508,000,00D97,188,80,80,BF,FF
2021-08-15T02:08:22.925Z,1628993302.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:08:22.926Z,1628993302.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:08:22.927Z,1628993302.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:08:23.333Z,1628993303.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:08:23.742Z,1628993303.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4F6,000,00D97,188,80,80,BF,FF
2021-08-15T02:08:23.742Z,1628993303.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:08:24.186Z,1628993304.186 [Micromodem](INFO): Nmea in: $SNTTA,0.118162,,,,020824.23*40

2021-08-15T02:08:24.208Z,1628993304.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.240005 m, bearing: 84.947356 deg, deltaT: 4.446565 s, approachRate: 0.000000 m/s, LOS rate: -0.267981 deg/s, posRepo size: 4
2021-08-15T02:08:24.210Z,1628993304.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.240005 m,
      bearing: 84.947356 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.267981 deg/s,
      cmd update: -1.071924 deg/s,
      cmd heading: 98.316245 deg,
      new cmd heading: 93.540857 deg.

2021-08-15T02:08:26.587Z,1628993306.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:08:26.974Z,1628993306.974 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:08:26.974Z,1628993306.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:08:26.974Z,1628993306.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:08:26.975Z,1628993306.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:08:27.373Z,1628993307.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4F6,000,00D97,188,80,80,BF,FF
2021-08-15T02:08:27.373Z,1628993307.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:08:27.373Z,1628993307.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:08:27.375Z,1628993307.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:08:27.797Z,1628993307.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:08:28.206Z,1628993308.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,483,000,00DC0,189,80,80,BF,FF
2021-08-15T02:08:28.206Z,1628993308.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:08:28.631Z,1628993308.631 [Micromodem](INFO): Nmea in: $SNTTA,0.118300,,,,020828.67*4A

2021-08-15T02:08:28.697Z,1628993308.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.699997 m, bearing: 83.732839 deg, deltaT: 4.413549 s, approachRate: 0.557373 m/s, LOS rate: -0.275179 deg/s, posRepo size: 4
2021-08-15T02:08:28.699Z,1628993308.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.699997 m,
      bearing: 83.732839 deg,
      approachRate: 0.557373 m/s,
      LOS rate: -0.275179 deg/s,
      cmd update: -1.100717 deg/s,
      cmd heading: 93.580881 deg,
      new cmd heading: 93.077369 deg.

2021-08-15T02:08:31.054Z,1628993311.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:08:31.425Z,1628993311.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:08:31.425Z,1628993311.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:08:31.425Z,1628993311.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:08:31.426Z,1628993311.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:08:31.841Z,1628993311.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
483,000,00DC0,189,80,80,BF,FF
2021-08-15T02:08:31.842Z,1628993311.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:08:31.842Z,1628993311.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:08:31.844Z,1628993311.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:08:32.246Z,1628993312.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:08:32.649Z,1628993312.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00DC0,189,80,80,BF,FF
2021-08-15T02:08:32.650Z,1628993312.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:08:33.078Z,1628993313.078 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020833.14*51

2021-08-15T02:08:33.104Z,1628993313.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.699997 m, bearing: 60.916347 deg, deltaT: 4.523133 s, approachRate: 0.000000 m/s, LOS rate: -5.044400 deg/s, posRepo size: 4
2021-08-15T02:08:33.108Z,1628993313.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.699997 m,
      bearing: 60.916347 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.044400 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 88.613055 deg,
      new cmd heading: 88.213281 deg.

2021-08-15T02:08:35.549Z,1628993315.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:08:35.881Z,1628993315.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:08:35.881Z,1628993315.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:08:35.881Z,1628993315.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:08:35.882Z,1628993315.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:08:36.273Z,1628993316.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00DC0,189,80,80,BF,FF
2021-08-15T02:08:36.273Z,1628993316.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:08:36.273Z,1628993316.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:08:36.275Z,1628993316.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:08:36.716Z,1628993316.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:08:37.085Z,1628993317.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00DC0,189,80,80,BF,FF
2021-08-15T02:08:37.086Z,1628993317.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:08:37.525Z,1628993317.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020837.57*52

2021-08-15T02:08:37.572Z,1628993317.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.699997 m, bearing: 45.958874 deg, deltaT: 4.431000 s, approachRate: 0.000000 m/s, LOS rate: -3.375643 deg/s, posRepo size: 4
2021-08-15T02:08:37.579Z,1628993317.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.699997 m,
      bearing: 45.958874 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.375643 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 36.065894 deg,
      new cmd heading: 30.637741 deg.

2021-08-15T02:08:39.960Z,1628993319.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:08:40.321Z,1628993320.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:08:40.321Z,1628993320.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:08:40.321Z,1628993320.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:08:40.322Z,1628993320.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:08:40.733Z,1628993320.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00DC0,189,80,80,BF,FF
2021-08-15T02:08:40.733Z,1628993320.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:08:40.734Z,1628993320.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:08:40.737Z,1628993320.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:08:41.136Z,1628993321.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:08:41.945Z,1628993321.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36D,000,01652,189,80,80,AF,FF
2021-08-15T02:08:41.945Z,1628993321.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:08:41.948Z,1628993321.948 [Micromodem](INFO): Nmea in: $SNTTA,0.228518,,,,020842.04*4C

2021-08-15T02:08:42.379Z,1628993322.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 305.339996 m, bearing: 50.198083 deg, deltaT: 4.826034 s, approachRate: 27.277056 m/s, LOS rate: 0.878404 deg/s, posRepo size: 4
2021-08-15T02:08:42.382Z,1628993322.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 305.339996 m,
      bearing: 50.198083 deg,
      approachRate: 27.277056 m/s,
      LOS rate: 0.878404 deg/s,
      cmd update: 3.513616 deg/s,
      cmd heading: 337.555319 deg,
      new cmd heading: 332.948195 deg.

2021-08-15T02:08:44.841Z,1628993324.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:08:45.209Z,1628993325.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:08:45.209Z,1628993325.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:08:45.209Z,1628993325.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:08:45.210Z,1628993325.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:08:45.569Z,1628993325.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36D,000,01652,189,80,80,AF,FF
2021-08-15T02:08:45.569Z,1628993325.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:08:45.570Z,1628993325.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:08:45.574Z,1628993325.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:08:45.990Z,1628993325.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:08:46.378Z,1628993326.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,01652,189,80,80,AF,FF
2021-08-15T02:08:46.379Z,1628993326.379 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:08:46.818Z,1628993326.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020846.87*59

2021-08-15T02:08:46.845Z,1628993326.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 305.339996 m, bearing: 48.260720 deg, deltaT: 4.445286 s, approachRate: 0.000000 m/s, LOS rate: -0.435824 deg/s, posRepo size: 4
2021-08-15T02:08:46.847Z,1628993326.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 305.339996 m,
      bearing: 48.260720 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.435824 deg/s,
      cmd update: -1.743296 deg/s,
      cmd heading: 353.187634 deg,
      new cmd heading: 354.593769 deg.

2021-08-15T02:08:49.273Z,1628993329.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:08:49.618Z,1628993329.618 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:08:49.618Z,1628993329.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:08:49.618Z,1628993329.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:08:49.619Z,1628993329.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:08:50.013Z,1628993330.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,01652,189,80,80,AF,FF
2021-08-15T02:08:50.013Z,1628993330.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:08:50.014Z,1628993330.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:08:50.015Z,1628993330.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:08:50.421Z,1628993330.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:08:50.813Z,1628993330.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,0073A,186,80,80,AA,FF
2021-08-15T02:08:50.814Z,1628993330.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:08:51.262Z,1628993331.262 [Micromodem](INFO): Nmea in: $SNTTA,0.460889,,,,020851.32*44

2021-08-15T02:08:51.339Z,1628993331.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.500000 m, bearing: 54.473982 deg, deltaT: 4.413225 s, approachRate: -52.533012 m/s, LOS rate: 1.407873 deg/s, posRepo size: 4
2021-08-15T02:08:51.345Z,1628993331.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.500000 m,
      bearing: 54.473982 deg,
      approachRate: -52.533012 m/s,
      LOS rate: 1.407873 deg/s,
      cmd update: 5.631494 deg/s,
      cmd heading: 345.495438 deg,
      new cmd heading: 344.655842 deg.

2021-08-15T02:08:53.730Z,1628993333.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:08:54.049Z,1628993334.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:08:54.049Z,1628993334.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:08:54.049Z,1628993334.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:08:54.050Z,1628993334.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:08:54.453Z,1628993334.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,0073A,186,80,80,AA,FF
2021-08-15T02:08:54.453Z,1628993334.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:08:54.453Z,1628993334.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:08:54.455Z,1628993334.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:08:54.873Z,1628993334.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:08:54.897Z,1628993334.897 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:08:55.269Z,1628993335.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,00CFA,186,80,80,AA,FF
2021-08-15T02:08:55.270Z,1628993335.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:08:55.713Z,1628993335.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020855.76*55

2021-08-15T02:08:55.858Z,1628993335.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.820007 m, bearing: 54.643866 deg, deltaT: 4.465544 s, approachRate: 19.778107 m/s, LOS rate: 0.038043 deg/s, posRepo size: 4
2021-08-15T02:08:55.877Z,1628993335.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.820007 m,
      bearing: 54.643866 deg,
      approachRate: 19.778107 m/s,
      LOS rate: 0.038043 deg/s,
      cmd update: 0.152173 deg/s,
      cmd heading: 10.685888 deg,
      new cmd heading: 13.660742 deg.

2021-08-15T02:08:58.107Z,1628993338.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:08:58.493Z,1628993338.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:08:58.493Z,1628993338.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:08:58.493Z,1628993338.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:08:58.494Z,1628993338.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:08:58.905Z,1628993338.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,00CFA,186,80,80,AA,FF
2021-08-15T02:08:58.905Z,1628993338.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:08:58.905Z,1628993338.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:08:58.907Z,1628993338.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:08:59.317Z,1628993339.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:08:59.721Z,1628993339.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D72,000,00CC9,189,80,80,AA,FF
2021-08-15T02:08:59.722Z,1628993339.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:09:00.138Z,1628993340.138 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020900.21*56

2021-08-15T02:09:00.185Z,1628993340.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.879990 m, bearing: 59.881423 deg, deltaT: 4.457565 s, approachRate: -0.659557 m/s, LOS rate: 1.174982 deg/s, posRepo size: 4
2021-08-15T02:09:00.187Z,1628993340.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.879990 m,
      bearing: 59.881423 deg,
      approachRate: -0.659557 m/s,
      LOS rate: 1.174982 deg/s,
      cmd update: 4.699926 deg/s,
      cmd heading: 11.363160 deg,
      new cmd heading: 11.421628 deg.

2021-08-15T02:09:02.555Z,1628993342.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:09:02.937Z,1628993342.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:09:02.937Z,1628993342.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:09:02.937Z,1628993342.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:09:02.938Z,1628993342.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:09:03.349Z,1628993343.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D72,000,00CC9,189,80,80,AA,FF
2021-08-15T02:09:03.350Z,1628993343.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:09:03.350Z,1628993343.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:09:03.352Z,1628993343.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:09:03.749Z,1628993343.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:09:04.150Z,1628993344.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BAF,000,00CC9,189,80,80,AA,FF
2021-08-15T02:09:04.150Z,1628993344.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:09:04.581Z,1628993344.581 [Micromodem](INFO): Nmea in: $SNTTA,0.106954,,,,020904.66*40

2021-08-15T02:09:04.630Z,1628993344.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.879990 m, bearing: 66.071179 deg, deltaT: 4.411914 s, approachRate: 0.000000 m/s, LOS rate: 1.402964 deg/s, posRepo size: 4
2021-08-15T02:09:04.636Z,1628993344.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.879990 m,
      bearing: 66.071179 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.402964 deg/s,
      cmd update: 5.611856 deg/s,
      cmd heading: 32.099991 deg,
      new cmd heading: 34.153657 deg.

2021-08-15T02:09:07.014Z,1628993347.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:09:07.389Z,1628993347.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:09:07.389Z,1628993347.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:09:07.389Z,1628993347.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:09:07.390Z,1628993347.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:09:07.785Z,1628993347.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BAF,000,00CC9,189,80,80,AA,FF
2021-08-15T02:09:07.785Z,1628993347.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:09:07.785Z,1628993347.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:09:07.787Z,1628993347.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:09:08.201Z,1628993348.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:09:08.598Z,1628993348.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC0,000,00C81,189,80,80,AA,FF
2021-08-15T02:09:08.598Z,1628993348.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:09:09.038Z,1628993349.038 [Micromodem](INFO): Nmea in: $SNTTA,0.105164,,,,020909.09*4C

2021-08-15T02:09:09.064Z,1628993349.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.559998 m, bearing: 57.072074 deg, deltaT: 4.484675 s, approachRate: -0.963279 m/s, LOS rate: -2.006635 deg/s, posRepo size: 4
2021-08-15T02:09:09.066Z,1628993349.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.559998 m,
      bearing: 57.072074 deg,
      approachRate: -0.963279 m/s,
      LOS rate: -2.006635 deg/s,
      cmd update: -8.026539 deg/s,
      cmd heading: 57.290097 deg,
      new cmd heading: 59.436076 deg.

2021-08-15T02:09:11.466Z,1628993351.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:09:11.825Z,1628993351.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:09:11.825Z,1628993351.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:09:11.825Z,1628993351.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:09:11.826Z,1628993351.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:09:12.237Z,1628993352.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC0,000,00C81,189,80,80,AA,FF
2021-08-15T02:09:12.237Z,1628993352.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:09:12.237Z,1628993352.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:09:12.239Z,1628993352.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:09:12.673Z,1628993352.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:09:13.041Z,1628993353.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21B,000,00C59,188,80,80,AA,FF
2021-08-15T02:09:13.042Z,1628993353.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:09:13.489Z,1628993353.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020913.54*56

2021-08-15T02:09:13.549Z,1628993353.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.160004 m, bearing: 6.110491 deg, deltaT: 4.407825 s, approachRate: -0.544485 m/s, LOS rate: -11.561617 deg/s, posRepo size: 4
2021-08-15T02:09:13.550Z,1628993353.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.561617 deg/s. Setting heading cmd to target bearing of 6.110491deg and heading rate command to 0 deg/s.
2021-08-15T02:09:15.903Z,1628993355.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:09:16.269Z,1628993356.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:09:16.269Z,1628993356.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:09:16.269Z,1628993356.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:09:16.270Z,1628993356.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:09:16.689Z,1628993356.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21B,000,00C59,188,80,80,AA,FF
2021-08-15T02:09:16.689Z,1628993356.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:09:16.689Z,1628993356.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:09:16.691Z,1628993356.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:09:17.086Z,1628993357.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:09:17.491Z,1628993357.491 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,00C2A,186,80,80,AA,FF
2021-08-15T02:09:17.491Z,1628993357.491 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:09:17.921Z,1628993357.921 [Micromodem](INFO): Nmea in: $SNTTA,0.101659,,,,020917.99*47

2021-08-15T02:09:17.976Z,1628993357.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.339996 m, bearing: 66.369740 deg, deltaT: 4.462761 s, approachRate: -0.631897 m/s, LOS rate: 13.502683 deg/s, posRepo size: 4
2021-08-15T02:09:17.977Z,1628993357.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.502683 deg/s. Setting heading cmd to target bearing of 66.369740deg and heading rate command to 0 deg/s.
2021-08-15T02:09:20.342Z,1628993360.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:09:20.727Z,1628993360.727 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:09:20.727Z,1628993360.727 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:09:20.741Z,1628993360.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:09:20.742Z,1628993360.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:09:21.129Z,1628993361.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E20,000,00C2A,186,80,80,AA,FF
2021-08-15T02:09:21.130Z,1628993361.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:09:21.130Z,1628993361.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:09:21.137Z,1628993361.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:09:21.537Z,1628993361.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:09:21.935Z,1628993361.935 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,00BFE,186,80,80,AA,FF
2021-08-15T02:09:21.935Z,1628993361.935 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:09:22.349Z,1628993362.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020922.44*55

2021-08-15T02:09:22.383Z,1628993362.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.699997 m, bearing: 5.522712 deg, deltaT: 4.432391 s, approachRate: -0.595615 m/s, LOS rate: -13.727811 deg/s, posRepo size: 4
2021-08-15T02:09:22.384Z,1628993362.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.727811 deg/s. Setting heading cmd to target bearing of 5.522712deg and heading rate command to 0 deg/s.
2021-08-15T02:09:24.800Z,1628993364.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:09:25.201Z,1628993365.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:09:25.201Z,1628993365.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:09:25.201Z,1628993365.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:09:25.202Z,1628993365.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:09:25.593Z,1628993365.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BD,000,00BFE,186,80,80,AA,FF
2021-08-15T02:09:25.593Z,1628993365.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:09:25.593Z,1628993365.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:09:25.595Z,1628993365.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:09:25.977Z,1628993365.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:09:26.385Z,1628993366.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D61,000,00BD5,189,80,80,AA,FF
2021-08-15T02:09:26.385Z,1628993366.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:09:26.806Z,1628993366.806 [Micromodem](INFO): Nmea in: $SNTTA,0.098194,,,,020926.90*4B

2021-08-15T02:09:26.852Z,1628993366.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.240005 m, bearing: 58.661865 deg, deltaT: 4.419523 s, approachRate: -0.556619 m/s, LOS rate: 12.023730 deg/s, posRepo size: 4
2021-08-15T02:09:26.853Z,1628993366.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.023730 deg/s. Setting heading cmd to target bearing of 58.661865deg and heading rate command to 0 deg/s.
2021-08-15T02:09:29.265Z,1628993369.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:09:29.613Z,1628993369.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:09:29.613Z,1628993369.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:09:29.613Z,1628993369.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:09:29.614Z,1628993369.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:09:30.013Z,1628993370.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D61,000,00BD5,189,80,80,AA,FF
2021-08-15T02:09:30.013Z,1628993370.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:09:30.013Z,1628993370.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:09:30.015Z,1628993370.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:09:30.424Z,1628993370.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:09:30.885Z,1628993370.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,00BAA,187,80,80,98,FF
2021-08-15T02:09:30.886Z,1628993370.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:09:31.249Z,1628993371.249 [Micromodem](INFO): Nmea in: $SNTTA,0.103661,0.460386,,,020931.32*5A

2021-08-15T02:09:31.259Z,1628993371.259 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:09:31.300Z,1628993371.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.660004 m, bearing: 9.701953 deg, deltaT: 4.585700 s, approachRate: -0.562619 m/s, LOS rate: -10.676649 deg/s, posRepo size: 4
2021-08-15T02:09:31.302Z,1628993371.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.660004 m,
      bearing: 9.701953 deg,
      approachRate: -0.562619 m/s,
      LOS rate: -10.676649 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 58.661865 deg,
      new cmd heading: 58.661865 deg.

2021-08-15T02:09:33.707Z,1628993373.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:09:34.045Z,1628993374.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:09:34.045Z,1628993374.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:09:34.045Z,1628993374.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:09:34.046Z,1628993374.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:09:34.462Z,1628993374.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,00BAA,187,80,80,98,FF
2021-08-15T02:09:34.463Z,1628993374.463 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:09:34.463Z,1628993374.463 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:09:34.465Z,1628993374.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:09:34.857Z,1628993374.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:09:35.266Z,1628993375.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,00B7E,186,80,80,90,FF
2021-08-15T02:09:35.267Z,1628993375.267 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:09:35.697Z,1628993375.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020935.77*53

2021-08-15T02:09:35.783Z,1628993375.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.020004 m, bearing: 11.235737 deg, deltaT: 4.333611 s, approachRate: -0.609192 m/s, LOS rate: 0.353927 deg/s, posRepo size: 4
2021-08-15T02:09:35.795Z,1628993375.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.020004 m,
      bearing: 11.235737 deg,
      approachRate: -0.609192 m/s,
      LOS rate: 0.353927 deg/s,
      cmd update: 1.415710 deg/s,
      cmd heading: 6.659048 deg,
      new cmd heading: 1.191139 deg.

2021-08-15T02:09:38.123Z,1628993378.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:09:38.490Z,1628993378.490 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:09:38.490Z,1628993378.490 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:09:38.490Z,1628993378.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:09:38.491Z,1628993378.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:09:38.897Z,1628993378.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,00B7E,186,80,80,90,FF
2021-08-15T02:09:38.897Z,1628993378.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:09:38.898Z,1628993378.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:09:38.899Z,1628993378.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:09:39.309Z,1628993379.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:09:39.725Z,1628993379.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22A,000,00B51,189,80,80,87,FF
2021-08-15T02:09:39.725Z,1628993379.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:09:40.157Z,1628993380.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.319992 m, bearing: 9.169187 deg, deltaT: 4.457980 s, approachRate: -0.605658 m/s, LOS rate: -0.463562 deg/s, posRepo size: 4
2021-08-15T02:09:40.160Z,1628993380.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.319992 m,
      bearing: 9.169187 deg,
      approachRate: -0.605658 m/s,
      LOS rate: -0.463562 deg/s,
      cmd update: -1.854248 deg/s,
      cmd heading: 12.958391 deg,
      new cmd heading: 13.494165 deg.

2021-08-15T02:09:42.598Z,1628993382.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:09:42.949Z,1628993382.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:09:42.949Z,1628993382.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:09:42.950Z,1628993382.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:09:42.951Z,1628993382.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:09:43.363Z,1628993383.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22A,000,00B51,189,80,80,87,FF
2021-08-15T02:09:43.363Z,1628993383.363 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:09:43.363Z,1628993383.363 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:09:43.367Z,1628993383.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:09:43.757Z,1628993383.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:09:44.166Z,1628993384.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BAC,000,00B28,189,80,80,AD,FF
2021-08-15T02:09:44.166Z,1628993384.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:09:44.593Z,1628993384.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020944.67*54

2021-08-15T02:09:44.637Z,1628993384.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.860001 m, bearing: 72.333609 deg, deltaT: 4.442189 s, approachRate: -0.553779 m/s, LOS rate: 14.219211 deg/s, posRepo size: 4
2021-08-15T02:09:44.639Z,1628993384.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.219211 deg/s. Setting heading cmd to target bearing of 72.333609deg and heading rate command to 0 deg/s.
2021-08-15T02:09:47.077Z,1628993387.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:09:47.401Z,1628993387.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:09:47.401Z,1628993387.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:09:47.401Z,1628993387.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:09:47.402Z,1628993387.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:09:47.789Z,1628993387.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BAC,000,00B28,189,80,80,AD,FF
2021-08-15T02:09:47.789Z,1628993387.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:09:47.790Z,1628993387.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:09:47.791Z,1628993387.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:09:48.213Z,1628993388.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:09:48.605Z,1628993388.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00B11,189,80,80,99,FF
2021-08-15T02:09:48.606Z,1628993388.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:09:49.053Z,1628993389.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.479996 m, bearing: 64.906734 deg, deltaT: 4.480505 s, approachRate: -0.308002 m/s, LOS rate: -1.657598 deg/s, posRepo size: 4
2021-08-15T02:09:49.073Z,1628993389.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.479996 m,
      bearing: 64.906734 deg,
      approachRate: -0.308002 m/s,
      LOS rate: -1.657598 deg/s,
      cmd update: -6.630390 deg/s,
      cmd heading: 72.333609 deg,
      new cmd heading: 72.333609 deg.

2021-08-15T02:09:51.475Z,1628993391.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:09:51.833Z,1628993391.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:09:51.833Z,1628993391.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:09:51.833Z,1628993391.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:09:51.834Z,1628993391.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:09:52.245Z,1628993392.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00B11,189,80,80,99,FF
2021-08-15T02:09:52.245Z,1628993392.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:09:52.245Z,1628993392.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:09:52.247Z,1628993392.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:09:52.672Z,1628993392.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:09:53.049Z,1628993393.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B14,000,00AF5,18A,80,80,AF,FF
2021-08-15T02:09:53.049Z,1628993393.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:09:53.481Z,1628993393.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020953.55*53

2021-08-15T02:09:53.533Z,1628993393.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.800003 m, bearing: 70.985528 deg, deltaT: 4.390777 s, approachRate: -0.382619 m/s, LOS rate: 1.384446 deg/s, posRepo size: 4
2021-08-15T02:09:53.535Z,1628993393.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.800003 m,
      bearing: 70.985528 deg,
      approachRate: -0.382619 m/s,
      LOS rate: 1.384446 deg/s,
      cmd update: 5.537784 deg/s,
      cmd heading: 43.300329 deg,
      new cmd heading: 40.236579 deg.

2021-08-15T02:09:55.930Z,1628993395.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:09:56.285Z,1628993396.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:09:56.285Z,1628993396.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:09:56.285Z,1628993396.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:09:56.286Z,1628993396.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:09:56.713Z,1628993396.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B14,000,00AF5,18A,80,80,AF,FF
2021-08-15T02:09:56.713Z,1628993396.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:09:56.714Z,1628993396.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:09:56.715Z,1628993396.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:09:57.093Z,1628993397.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:09:57.898Z,1628993397.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020958.02*5A

2021-08-15T02:09:58.788Z,1628993398.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:10:00.330Z,1628993400.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,18A,80,80,AF,FF
2021-08-15T02:10:00.330Z,1628993400.330 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,18A,80,80,AF,FF
2021-08-15T02:10:00.331Z,1628993400.331 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:10:01.557Z,1628993401.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:10:01.933Z,1628993401.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:10:01.933Z,1628993401.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:10:01.933Z,1628993401.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:10:01.934Z,1628993401.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:10:02.337Z,1628993402.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,18A,80,80,AF,FF
2021-08-15T02:10:02.337Z,1628993402.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:10:02.338Z,1628993402.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:10:02.339Z,1628993402.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:10:02.761Z,1628993402.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:10:03.578Z,1628993403.578 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021003.64*5C

2021-08-15T02:10:03.936Z,1628993403.936 [ElevatorServo](ERROR): getPosition uart error serial timeout
2021-08-15T02:10:03.936Z,1628993403.936 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2021-08-15T02:10:03.936Z,1628993403.936 [ElevatorServo] Communications Fault, FailCount= 1
2021-08-15T02:10:03.936Z,1628993403.936 [ElevatorServo](ERROR): Communications Fault
2021-08-15T02:10:03.968Z,1628993403.968 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2021-08-15T02:10:04.088Z,1628993404.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:10:04.105Z,1628993404.105 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2021-08-15T02:10:04.105Z,1628993404.105 [ElevatorServo](INFO): Powering down
2021-08-15T02:10:04.896Z,1628993404.896 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-08-15T02:10:05.017Z,1628993405.017 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-08-15T02:10:05.048Z,1628993405.048 [CBIT](INFO): Clearing failed state for component ElevatorServo
2021-08-15T02:10:05.048Z,1628993405.048 [ElevatorServo] No Fault, FailCount= 1
2021-08-15T02:10:05.633Z,1628993405.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,18A,80,80,AF,FF
2021-08-15T02:10:05.634Z,1628993405.634 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,18A,80,80,AF,FF
2021-08-15T02:10:05.634Z,1628993405.634 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:10:06.903Z,1628993406.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:10:07.249Z,1628993407.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:10:07.249Z,1628993407.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:10:07.249Z,1628993407.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:10:07.250Z,1628993407.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:10:07.657Z,1628993407.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,18A,80,80,AF,FF
2021-08-15T02:10:07.657Z,1628993407.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:10:07.658Z,1628993407.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:10:07.665Z,1628993407.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:10:08.082Z,1628993408.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:10:08.474Z,1628993408.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD7,000,00A73,184,80,80,B2,FF
2021-08-15T02:10:08.474Z,1628993408.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:10:08.902Z,1628993408.902 [Micromodem](INFO): Nmea in: $SNTTA,,0.104414,,,021008.97*41

2021-08-15T02:10:08.928Z,1628993408.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.000000 m, bearing: 67.421945 deg, deltaT: 15.392224 s, approachRate: -0.506750 m/s, LOS rate: -0.231518 deg/s, posRepo size: 4
2021-08-15T02:10:08.930Z,1628993408.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.000000 m,
      bearing: 67.421945 deg,
      approachRate: -0.506750 m/s,
      LOS rate: -0.231518 deg/s,
      cmd update: -0.926074 deg/s,
      cmd heading: 128.695286 deg,
      new cmd heading: 131.116854 deg.

2021-08-15T02:10:11.343Z,1628993411.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:10:11.721Z,1628993411.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:10:11.721Z,1628993411.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:10:11.721Z,1628993411.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:10:11.722Z,1628993411.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:10:12.097Z,1628993412.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD7,000,00A73,184,80,80,B2,FF
2021-08-15T02:10:12.097Z,1628993412.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:10:12.097Z,1628993412.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:10:12.099Z,1628993412.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:10:12.512Z,1628993412.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:10:12.913Z,1628993412.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,00A3E,186,80,80,85,FF
2021-08-15T02:10:12.913Z,1628993412.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:10:13.341Z,1628993413.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021013.40*5B

2021-08-15T02:10:13.390Z,1628993413.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.820000 m, bearing: 63.273383 deg, deltaT: 4.490924 s, approachRate: -0.708095 m/s, LOS rate: -0.923766 deg/s, posRepo size: 4
2021-08-15T02:10:13.393Z,1628993413.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.820000 m,
      bearing: 63.273383 deg,
      approachRate: -0.708095 m/s,
      LOS rate: -0.923766 deg/s,
      cmd update: -3.695063 deg/s,
      cmd heading: 124.536141 deg,
      new cmd heading: 124.158053 deg.

2021-08-15T02:10:15.762Z,1628993415.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:10:16.138Z,1628993416.138 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:10:16.138Z,1628993416.138 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:10:16.138Z,1628993416.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:10:16.139Z,1628993416.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:10:16.541Z,1628993416.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,00A3E,186,80,80,85,FF
2021-08-15T02:10:16.541Z,1628993416.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:10:16.541Z,1628993416.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:10:16.543Z,1628993416.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:10:16.949Z,1628993416.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:10:17.354Z,1628993417.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35A,000,00A13,189,80,80,99,FF
2021-08-15T02:10:17.354Z,1628993417.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:10:17.789Z,1628993417.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021017.84*57

2021-08-15T02:10:17.815Z,1628993417.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.240005 m, bearing: 57.106768 deg, deltaT: 4.456745 s, approachRate: -0.578897 m/s, LOS rate: -1.383659 deg/s, posRepo size: 4
2021-08-15T02:10:17.833Z,1628993417.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.240005 m,
      bearing: 57.106768 deg,
      approachRate: -0.578897 m/s,
      LOS rate: -1.383659 deg/s,
      cmd update: -5.534636 deg/s,
      cmd heading: 108.105357 deg,
      new cmd heading: 106.678161 deg.

2021-08-15T02:10:20.218Z,1628993420.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:10:20.582Z,1628993420.582 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:10:20.582Z,1628993420.582 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:10:20.582Z,1628993420.582 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:10:20.583Z,1628993420.583 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:10:20.997Z,1628993420.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35A,000,00A13,189,80,80,99,FF
2021-08-15T02:10:20.997Z,1628993420.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:10:20.997Z,1628993420.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:10:20.999Z,1628993420.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:10:21.393Z,1628993421.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:10:21.793Z,1628993421.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,446,000,009F4,189,80,80,BB,FF
2021-08-15T02:10:21.794Z,1628993421.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:10:22.254Z,1628993422.254 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021022.30*5E

2021-08-15T02:10:22.276Z,1628993422.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.380005 m, bearing: 53.847156 deg, deltaT: 4.411719 s, approachRate: -0.421605 m/s, LOS rate: -0.738853 deg/s, posRepo size: 4
2021-08-15T02:10:22.278Z,1628993422.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.380005 m,
      bearing: 53.847156 deg,
      approachRate: -0.421605 m/s,
      LOS rate: -0.738853 deg/s,
      cmd update: -2.955412 deg/s,
      cmd heading: 83.664945 deg,
      new cmd heading: 81.279904 deg.

2021-08-15T02:10:24.689Z,1628993424.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:10:25.033Z,1628993425.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:10:25.033Z,1628993425.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:10:25.033Z,1628993425.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:10:25.034Z,1628993425.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:10:25.429Z,1628993425.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
446,000,009F4,189,80,80,BB,FF
2021-08-15T02:10:25.429Z,1628993425.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:10:25.429Z,1628993425.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:10:25.431Z,1628993425.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:10:25.849Z,1628993425.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:10:26.253Z,1628993426.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31B,000,009CD,189,80,80,BA,FF
2021-08-15T02:10:26.254Z,1628993426.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:10:26.693Z,1628993426.693 [Micromodem](INFO): Nmea in: $SNTTA,0.159610,,,,021026.74*4E

2021-08-15T02:10:26.736Z,1628993426.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.040001 m, bearing: 55.560119 deg, deltaT: 4.419846 s, approachRate: -0.529431 m/s, LOS rate: 0.387562 deg/s, posRepo size: 4
2021-08-15T02:10:26.738Z,1628993426.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.040001 m,
      bearing: 55.560119 deg,
      approachRate: -0.529431 m/s,
      LOS rate: 0.387562 deg/s,
      cmd update: 1.550247 deg/s,
      cmd heading: 70.585100 deg,
      new cmd heading: 69.209145 deg.

2021-08-15T02:10:29.083Z,1628993429.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:10:29.477Z,1628993429.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:10:29.477Z,1628993429.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:10:29.477Z,1628993429.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:10:29.478Z,1628993429.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:10:29.881Z,1628993429.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31B,000,009CD,189,80,80,BA,FF
2021-08-15T02:10:29.881Z,1628993429.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:10:29.881Z,1628993429.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:10:29.883Z,1628993429.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:10:30.296Z,1628993430.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:10:30.721Z,1628993430.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15C,000,00998,186,80,80,A2,FF
2021-08-15T02:10:30.721Z,1628993430.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:10:31.133Z,1628993431.133 [Micromodem](INFO): Nmea in: $SNTTA,0.113511,,,,021031.19*4F

2021-08-15T02:10:31.195Z,1628993431.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.860008 m, bearing: 60.538439 deg, deltaT: 4.497857 s, approachRate: -0.707002 m/s, LOS rate: 1.106820 deg/s, posRepo size: 4
2021-08-15T02:10:31.202Z,1628993431.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.860008 m,
      bearing: 60.538439 deg,
      approachRate: -0.707002 m/s,
      LOS rate: 1.106820 deg/s,
      cmd update: 4.427282 deg/s,
      cmd heading: 77.557874 deg,
      new cmd heading: 78.219907 deg.

2021-08-15T02:10:33.562Z,1628993433.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:10:33.921Z,1628993433.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:10:33.921Z,1628993433.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:10:33.921Z,1628993433.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:10:33.922Z,1628993433.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:10:34.328Z,1628993434.328 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15C,000,00998,186,80,80,A2,FF
2021-08-15T02:10:34.329Z,1628993434.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:10:34.329Z,1628993434.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:10:34.330Z,1628993434.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:10:34.740Z,1628993434.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:10:35.150Z,1628993435.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,00968,186,80,80,67,FF
2021-08-15T02:10:35.151Z,1628993435.151 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:10:35.569Z,1628993435.569 [Micromodem](INFO): Nmea in: $SNTTA,0.342589,,,,021035.63*41

2021-08-15T02:10:35.624Z,1628993435.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.980003 m, bearing: 63.569213 deg, deltaT: 4.467031 s, approachRate: -0.644725 m/s, LOS rate: 0.678476 deg/s, posRepo size: 4
2021-08-15T02:10:35.635Z,1628993435.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.980003 m,
      bearing: 63.569213 deg,
      approachRate: -0.644725 m/s,
      LOS rate: 0.678476 deg/s,
      cmd update: 2.713904 deg/s,
      cmd heading: 97.334625 deg,
      new cmd heading: 99.036211 deg.

2021-08-15T02:10:38.021Z,1628993438.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:10:38.373Z,1628993438.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:10:38.373Z,1628993438.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:10:38.373Z,1628993438.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:10:38.374Z,1628993438.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:10:38.777Z,1628993438.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,00968,186,80,80,67,FF
2021-08-15T02:10:38.777Z,1628993438.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:10:38.777Z,1628993438.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:10:38.779Z,1628993438.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:10:39.209Z,1628993439.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:10:39.589Z,1628993439.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,00937,186,80,80,96,FF
2021-08-15T02:10:39.589Z,1628993439.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:10:40.010Z,1628993440.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021040.08*51

2021-08-15T02:10:40.037Z,1628993440.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.040001 m, bearing: 62.699409 deg, deltaT: 4.370768 s, approachRate: -0.672651 m/s, LOS rate: -0.199005 deg/s, posRepo size: 4
2021-08-15T02:10:40.039Z,1628993440.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.040001 m,
      bearing: 62.699409 deg,
      approachRate: -0.672651 m/s,
      LOS rate: -0.199005 deg/s,
      cmd update: -0.796019 deg/s,
      cmd heading: 109.196492 deg,
      new cmd heading: 110.365045 deg.

2021-08-15T02:10:42.025Z,1628993442.025 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:10:42.443Z,1628993442.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:10:42.806Z,1628993442.806 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:10:42.806Z,1628993442.806 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:10:42.807Z,1628993442.807 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:10:42.807Z,1628993442.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:10:43.217Z,1628993443.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C3,000,00937,186,80,80,96,FF
2021-08-15T02:10:43.217Z,1628993443.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:10:43.217Z,1628993443.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:10:43.219Z,1628993443.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:10:43.626Z,1628993443.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:10:44.017Z,1628993444.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B9,000,0090F,188,80,80,95,FF
2021-08-15T02:10:44.018Z,1628993444.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:10:44.442Z,1628993444.442 [Micromodem](INFO): Nmea in: $SNTTA,0.085332,0.365767,,,021044.52*53

2021-08-15T02:10:44.481Z,1628993444.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.639999 m, bearing: 51.179871 deg, deltaT: 4.438316 s, approachRate: -0.540746 m/s, LOS rate: -2.595475 deg/s, posRepo size: 4
2021-08-15T02:10:44.483Z,1628993444.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.639999 m,
      bearing: 51.179871 deg,
      approachRate: -0.540746 m/s,
      LOS rate: -2.595475 deg/s,
      cmd update: -10.381899 deg/s,
      cmd heading: 105.663505 deg,
      new cmd heading: 105.316425 deg.

2021-08-15T02:10:46.917Z,1628993446.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:10:47.245Z,1628993447.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:10:47.245Z,1628993447.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:10:47.245Z,1628993447.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:10:47.246Z,1628993447.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:10:47.652Z,1628993447.652 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B9,000,0090F,188,80,80,95,FF
2021-08-15T02:10:47.653Z,1628993447.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:10:47.654Z,1628993447.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:10:47.661Z,1628993447.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:10:48.061Z,1628993448.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:10:48.457Z,1628993448.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C3,000,008E6,189,80,80,8C,FF
2021-08-15T02:10:48.458Z,1628993448.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:10:48.901Z,1628993448.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021048.97*5F

2021-08-15T02:10:48.927Z,1628993448.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.180000 m, bearing: 49.755777 deg, deltaT: 4.489027 s, approachRate: -0.548003 m/s, LOS rate: -0.317239 deg/s, posRepo size: 4
2021-08-15T02:10:48.929Z,1628993448.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.180000 m,
      bearing: 49.755777 deg,
      approachRate: -0.548003 m/s,
      LOS rate: -0.317239 deg/s,
      cmd update: -1.268956 deg/s,
      cmd heading: 59.168499 deg,
      new cmd heading: 54.976029 deg.

2021-08-15T02:10:49.037Z,1628993449.037 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@5242"
2021-08-15T02:10:49.037Z,1628993449.037 [ThrusterServo] Communications Fault, FailCount= 1
2021-08-15T02:10:49.037Z,1628993449.037 [ThrusterServo](ERROR): Communications Fault
2021-08-15T02:10:49.041Z,1628993449.041 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-15T02:10:49.437Z,1628993449.437 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-15T02:10:49.437Z,1628993449.437 [ThrusterServo](INFO): Powering down
2021-08-15T02:10:50.213Z,1628993450.213 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-15T02:10:50.329Z,1628993450.329 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-15T02:10:50.333Z,1628993450.333 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-15T02:10:50.333Z,1628993450.333 [ThrusterServo] No Fault, FailCount= 1
2021-08-15T02:10:51.338Z,1628993451.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:10:51.721Z,1628993451.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:10:51.721Z,1628993451.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:10:51.721Z,1628993451.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:10:51.722Z,1628993451.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:10:52.093Z,1628993452.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C3,000,008E6,189,80,80,8C,FF
2021-08-15T02:10:52.093Z,1628993452.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:10:52.093Z,1628993452.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:10:52.095Z,1628993452.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:10:52.501Z,1628993452.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:10:52.905Z,1628993452.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24D,000,008BE,189,80,80,72,FF
2021-08-15T02:10:52.905Z,1628993452.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:10:53.367Z,1628993453.367 [Micromodem](INFO): Nmea in: $SNTTA,0.159166,,,,021053.40*4D

2021-08-15T02:10:53.457Z,1628993453.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.779999 m, bearing: 53.443795 deg, deltaT: 4.423667 s, approachRate: -0.542537 m/s, LOS rate: 0.833702 deg/s, posRepo size: 4
2021-08-15T02:10:53.459Z,1628993453.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.779999 m,
      bearing: 53.443795 deg,
      approachRate: -0.542537 m/s,
      LOS rate: 0.833702 deg/s,
      cmd update: 3.334807 deg/s,
      cmd heading: 53.547043 deg,
      new cmd heading: 52.922341 deg.

2021-08-15T02:10:55.754Z,1628993455.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:10:56.138Z,1628993456.138 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:10:56.138Z,1628993456.138 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:10:56.138Z,1628993456.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:10:56.139Z,1628993456.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:10:56.337Z,1628993456.337 [CTD_Seabird](ERROR): Failed to parse device response: 6.15,,4.77649,4888.42
2021-08-15T02:10:56.533Z,1628993456.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24D,000,008BE,189,80,80,72,FF
2021-08-15T02:10:56.533Z,1628993456.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:10:56.533Z,1628993456.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:10:56.535Z,1628993456.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:10:56.953Z,1628993456.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:10:57.346Z,1628993457.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D3,000,0089E,186,80,80,9B,FF
2021-08-15T02:10:57.347Z,1628993457.347 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:10:57.785Z,1628993457.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021057.84*53

2021-08-15T02:10:57.829Z,1628993457.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.860001 m, bearing: 59.963324 deg, deltaT: 4.468274 s, approachRate: -0.429696 m/s, LOS rate: 1.459071 deg/s, posRepo size: 4
2021-08-15T02:10:57.831Z,1628993457.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.860001 m,
      bearing: 59.963324 deg,
      approachRate: -0.429696 m/s,
      LOS rate: 1.459071 deg/s,
      cmd update: 5.836284 deg/s,
      cmd heading: 68.426654 deg,
      new cmd heading: 69.807301 deg.

2021-08-15T02:11:00.195Z,1628993460.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:11:00.607Z,1628993460.607 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:11:00.609Z,1628993460.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:11:00.610Z,1628993460.610 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:11:00.621Z,1628993460.621 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:11:00.658Z,1628993460.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D3,000,0089E,186,80,80,9B,FF
2021-08-15T02:11:00.659Z,1628993460.659 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:11:00.659Z,1628993460.659 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:11:00.674Z,1628993460.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:11:00.775Z,1628993460.775 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T02:11:01.086Z,1628993461.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:11:01.477Z,1628993461.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,0087C,186,80,80,A5,FF
2021-08-15T02:11:01.478Z,1628993461.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:11:01.924Z,1628993461.924 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021101.98*5C

2021-08-15T02:11:01.957Z,1628993461.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.820000 m, bearing: 61.121082 deg, deltaT: 4.154150 s, approachRate: -0.491075 m/s, LOS rate: 0.278699 deg/s, posRepo size: 4
2021-08-15T02:11:01.959Z,1628993461.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.820000 m,
      bearing: 61.121082 deg,
      approachRate: -0.491075 m/s,
      LOS rate: 0.278699 deg/s,
      cmd update: 1.114797 deg/s,
      cmd heading: 92.710012 deg,
      new cmd heading: 94.932825 deg.

2021-08-15T02:11:04.327Z,1628993464.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:11:04.733Z,1628993464.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:11:04.733Z,1628993464.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:11:04.733Z,1628993464.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:11:04.734Z,1628993464.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:11:05.122Z,1628993465.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,0087C,186,80,80,A5,FF
2021-08-15T02:11:05.122Z,1628993465.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:11:05.123Z,1628993465.123 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:11:05.150Z,1628993465.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:11:05.525Z,1628993465.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:11:05.929Z,1628993465.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FC,000,0084C,186,80,80,A9,FF
2021-08-15T02:11:05.929Z,1628993465.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:11:05.941Z,1628993465.941 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T02:11:06.357Z,1628993466.357 [Micromodem](INFO): Nmea in: $SNTTA,0.085201,,,,021106.46*48

2021-08-15T02:11:06.403Z,1628993466.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.940002 m, bearing: 57.123485 deg, deltaT: 4.407604 s, approachRate: -0.653416 m/s, LOS rate: -0.906977 deg/s, posRepo size: 4
2021-08-15T02:11:06.411Z,1628993466.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.940002 m,
      bearing: 57.123485 deg,
      approachRate: -0.653416 m/s,
      LOS rate: -0.906977 deg/s,
      cmd update: -3.627910 deg/s,
      cmd heading: 97.618321 deg,
      new cmd heading: 98.091927 deg.

2021-08-15T02:11:08.799Z,1628993468.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:11:09.193Z,1628993469.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:11:09.193Z,1628993469.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:11:09.194Z,1628993469.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:11:09.195Z,1628993469.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:11:09.557Z,1628993469.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FC,000,0084C,186,80,80,A9,FF
2021-08-15T02:11:09.557Z,1628993469.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:11:09.558Z,1628993469.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:11:09.559Z,1628993469.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:11:09.974Z,1628993469.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:11:10.365Z,1628993470.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B0,000,0082A,189,80,80,A9,FF
2021-08-15T02:11:10.366Z,1628993470.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:11:10.806Z,1628993470.806 [Micromodem](INFO): Nmea in: $SNTTA,0.058263,,,,021110.86*47

2021-08-15T02:11:10.833Z,1628993470.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.900002 m, bearing: 49.076374 deg, deltaT: 4.427678 s, approachRate: -0.460738 m/s, LOS rate: -1.817456 deg/s, posRepo size: 4
2021-08-15T02:11:10.835Z,1628993470.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.900002 m,
      bearing: 49.076374 deg,
      approachRate: -0.460738 m/s,
      LOS rate: -1.817456 deg/s,
      cmd update: -7.269825 deg/s,
      cmd heading: 81.539371 deg,
      new cmd heading: 80.010773 deg.

2021-08-15T02:11:13.265Z,1628993473.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:11:13.597Z,1628993473.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:11:13.597Z,1628993473.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:11:13.597Z,1628993473.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:11:13.598Z,1628993473.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:11:14.006Z,1628993474.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B0,000,0082A,189,80,80,A9,FF
2021-08-15T02:11:14.006Z,1628993474.006 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:11:14.006Z,1628993474.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:11:14.007Z,1628993474.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:11:14.413Z,1628993474.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:11:14.805Z,1628993474.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,363,000,00805,189,80,80,B4,FF
2021-08-15T02:11:14.806Z,1628993474.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:11:15.258Z,1628993475.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021115.31*5A

2021-08-15T02:11:15.294Z,1628993475.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.680008 m, bearing: 48.302066 deg, deltaT: 4.442226 s, approachRate: -0.499748 m/s, LOS rate: -0.174306 deg/s, posRepo size: 4
2021-08-15T02:11:15.296Z,1628993475.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.680008 m,
      bearing: 48.302066 deg,
      approachRate: -0.499748 m/s,
      LOS rate: -0.174306 deg/s,
      cmd update: -0.697225 deg/s,
      cmd heading: 49.389379 deg,
      new cmd heading: 46.037931 deg.

2021-08-15T02:11:17.721Z,1628993477.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:11:18.053Z,1628993478.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:11:18.053Z,1628993478.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:11:18.053Z,1628993478.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:11:18.054Z,1628993478.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:11:18.453Z,1628993478.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
363,000,00805,189,80,80,B4,FF
2021-08-15T02:11:18.453Z,1628993478.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:11:18.453Z,1628993478.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:11:18.455Z,1628993478.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:11:18.857Z,1628993478.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:11:19.253Z,1628993479.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,164,000,007D2,186,80,80,B0,FF
2021-08-15T02:11:19.254Z,1628993479.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:11:19.702Z,1628993479.702 [Micromodem](INFO): Nmea in: $SNTTA,0.083117,,,,021119.76*47

2021-08-15T02:11:19.729Z,1628993479.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.620003 m, bearing: 56.653103 deg, deltaT: 4.456242 s, approachRate: -0.686678 m/s, LOS rate: 1.874009 deg/s, posRepo size: 4
2021-08-15T02:11:19.731Z,1628993479.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.620003 m,
      bearing: 56.653103 deg,
      approachRate: -0.686678 m/s,
      LOS rate: 1.874009 deg/s,
      cmd update: 7.496035 deg/s,
      cmd heading: 46.266010 deg,
      new cmd heading: 45.975845 deg.

2021-08-15T02:11:22.102Z,1628993482.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:11:22.489Z,1628993482.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:11:22.489Z,1628993482.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:11:22.489Z,1628993482.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:11:22.490Z,1628993482.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:11:22.889Z,1628993482.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
164,000,007D2,186,80,80,B0,FF
2021-08-15T02:11:22.889Z,1628993482.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:11:22.889Z,1628993482.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:11:22.891Z,1628993482.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:11:23.305Z,1628993483.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:11:23.713Z,1628993483.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,007A6,184,80,80,B2,FF
2021-08-15T02:11:23.714Z,1628993483.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:11:24.138Z,1628993484.138 [Micromodem](INFO): Nmea in: $SNTTA,0.125837,,,,021124.19*46

2021-08-15T02:11:24.166Z,1628993484.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.979996 m, bearing: 61.201015 deg, deltaT: 4.451636 s, approachRate: -0.593042 m/s, LOS rate: 1.021627 deg/s, posRepo size: 4
2021-08-15T02:11:24.193Z,1628993484.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.979996 m,
      bearing: 61.201015 deg,
      approachRate: -0.593042 m/s,
      LOS rate: 1.021627 deg/s,
      cmd update: 4.086509 deg/s,
      cmd heading: 79.459226 deg,
      new cmd heading: 82.638587 deg.

2021-08-15T02:11:26.567Z,1628993486.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:11:26.929Z,1628993486.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:11:26.929Z,1628993486.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:11:26.929Z,1628993486.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:11:26.930Z,1628993486.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:11:27.341Z,1628993487.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,007A6,184,80,80,B2,FF
2021-08-15T02:11:27.341Z,1628993487.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:11:27.342Z,1628993487.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:11:27.343Z,1628993487.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:11:27.745Z,1628993487.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:11:28.146Z,1628993488.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,00773,187,80,80,D3,FF
2021-08-15T02:11:28.146Z,1628993488.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:11:28.585Z,1628993488.585 [Micromodem](INFO): Nmea in: $SNTTA,0.345004,,,,021128.65*4D

2021-08-15T02:11:28.624Z,1628993488.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.919998 m, bearing: 59.402510 deg, deltaT: 4.410213 s, approachRate: -0.693843 m/s, LOS rate: -0.407805 deg/s, posRepo size: 4
2021-08-15T02:11:28.626Z,1628993488.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.919998 m,
      bearing: 59.402510 deg,
      approachRate: -0.693843 m/s,
      LOS rate: -0.407805 deg/s,
      cmd update: -1.631218 deg/s,
      cmd heading: 97.580465 deg,
      new cmd heading: 99.397563 deg.

2021-08-15T02:11:30.693Z,1628993490.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:11:30.979Z,1628993490.979 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:11:30.979Z,1628993490.979 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:11:30.979Z,1628993490.979 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:11:30.980Z,1628993490.980 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:11:30.995Z,1628993490.995 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:11:31.377Z,1628993491.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,00773,187,80,80,D3,FF
2021-08-15T02:11:31.377Z,1628993491.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:11:31.377Z,1628993491.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:11:31.379Z,1628993491.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:11:31.785Z,1628993491.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:11:32.618Z,1628993492.618 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021132.68*53

2021-08-15T02:11:33.438Z,1628993493.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:11:35.018Z,1628993495.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,187,80,80,D3,FF
2021-08-15T02:11:35.018Z,1628993495.018 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,187,80,80,D3,FF
2021-08-15T02:11:35.018Z,1628993495.018 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:11:35.827Z,1628993495.827 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:11:36.239Z,1628993496.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:11:36.625Z,1628993496.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:11:36.625Z,1628993496.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:11:36.625Z,1628993496.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:11:36.626Z,1628993496.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:11:37.034Z,1628993497.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,187,80,80,D3,FF
2021-08-15T02:11:37.034Z,1628993497.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:11:37.034Z,1628993497.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:11:37.036Z,1628993497.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:11:37.441Z,1628993497.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:11:37.837Z,1628993497.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39E,000,00714,189,80,80,7C,FF
2021-08-15T02:11:37.837Z,1628993497.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:11:38.281Z,1628993498.281 [Micromodem](INFO): Nmea in: $SNTTA,0.056332,,,,021138.34*4F

2021-08-15T02:11:38.300Z,1628993498.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.220001 m, bearing: 49.853448 deg, deltaT: 9.724431 s, approachRate: -0.586152 m/s, LOS rate: -0.981966 deg/s, posRepo size: 4
2021-08-15T02:11:38.302Z,1628993498.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.220001 m,
      bearing: 49.853448 deg,
      approachRate: -0.586152 m/s,
      LOS rate: -0.981966 deg/s,
      cmd update: -3.927865 deg/s,
      cmd heading: 81.731623 deg,
      new cmd heading: 81.064801 deg.

2021-08-15T02:11:40.718Z,1628993500.718 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:11:40.734Z,1628993500.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:11:41.066Z,1628993501.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:11:41.066Z,1628993501.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:11:41.066Z,1628993501.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:11:41.067Z,1628993501.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:11:41.477Z,1628993501.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39E,000,00714,189,80,80,7C,FF
2021-08-15T02:11:41.477Z,1628993501.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:11:41.477Z,1628993501.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:11:41.479Z,1628993501.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:11:41.885Z,1628993501.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:11:42.290Z,1628993502.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,006F2,188,80,80,A5,FF
2021-08-15T02:11:42.290Z,1628993502.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:11:42.733Z,1628993502.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021142.79*54

2021-08-15T02:11:42.784Z,1628993502.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.180008 m, bearing: 49.812344 deg, deltaT: 4.431889 s, approachRate: -0.460299 m/s, LOS rate: -0.009275 deg/s, posRepo size: 4
2021-08-15T02:11:42.786Z,1628993502.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.180008 m,
      bearing: 49.812344 deg,
      approachRate: -0.460299 m/s,
      LOS rate: -0.009275 deg/s,
      cmd update: -0.037098 deg/s,
      cmd heading: 64.290259 deg,
      new cmd heading: 62.592510 deg.

2021-08-15T02:11:45.196Z,1628993505.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:11:45.521Z,1628993505.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:11:45.521Z,1628993505.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:11:45.521Z,1628993505.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:11:45.522Z,1628993505.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:11:45.921Z,1628993505.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,006F2,188,80,80,A5,FF
2021-08-15T02:11:45.921Z,1628993505.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:11:45.921Z,1628993505.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:11:45.923Z,1628993505.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:11:45.969Z,1628993505.969 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-15T02:11:46.341Z,1628993506.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:11:46.729Z,1628993506.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,006C1,187,80,80,9C,FF
2021-08-15T02:11:46.729Z,1628993506.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:11:47.189Z,1628993507.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021147.23*5E

2021-08-15T02:11:47.268Z,1628993507.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.239998 m, bearing: 50.616479 deg, deltaT: 4.449482 s, approachRate: -0.660753 m/s, LOS rate: 0.180726 deg/s, posRepo size: 4
2021-08-15T02:11:47.270Z,1628993507.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.239998 m,
      bearing: 50.616479 deg,
      approachRate: -0.660753 m/s,
      LOS rate: 0.180726 deg/s,
      cmd update: 0.722902 deg/s,
      cmd heading: 64.125197 deg,
      new cmd heading: 64.107276 deg.

2021-08-15T02:11:49.606Z,1628993509.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:11:49.953Z,1628993509.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:11:49.953Z,1628993509.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:11:49.953Z,1628993509.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:11:49.954Z,1628993509.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:11:50.370Z,1628993510.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D5,000,006C1,187,80,80,9C,FF
2021-08-15T02:11:50.371Z,1628993510.371 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:11:50.372Z,1628993510.372 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:11:50.374Z,1628993510.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:11:50.857Z,1628993510.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:11:50.874Z,1628993510.874 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-15T02:11:51.219Z,1628993511.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,161,000,00695,185,80,80,97,FF
2021-08-15T02:11:51.220Z,1628993511.220 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:11:51.613Z,1628993511.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021151.68*56

2021-08-15T02:11:51.690Z,1628993511.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.600002 m, bearing: 52.866969 deg, deltaT: 4.475163 s, approachRate: -0.589922 m/s, LOS rate: 0.502884 deg/s, posRepo size: 4
2021-08-15T02:11:51.697Z,1628993511.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.600002 m,
      bearing: 52.866969 deg,
      approachRate: -0.589922 m/s,
      LOS rate: 0.502884 deg/s,
      cmd update: 2.011537 deg/s,
      cmd heading: 67.360471 deg,
      new cmd heading: 67.674038 deg.

2021-08-15T02:11:54.030Z,1628993514.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:11:54.413Z,1628993514.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:11:54.413Z,1628993514.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:11:54.414Z,1628993514.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:11:54.414Z,1628993514.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:11:54.809Z,1628993514.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
161,000,00695,185,80,80,97,FF
2021-08-15T02:11:54.809Z,1628993514.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:11:54.809Z,1628993514.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:11:54.811Z,1628993514.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:11:55.224Z,1628993515.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:11:55.633Z,1628993515.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A9,000,0065F,186,80,80,66,FF
2021-08-15T02:11:55.633Z,1628993515.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:11:56.066Z,1628993516.066 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021156.12*5C

2021-08-15T02:11:56.102Z,1628993516.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.360008 m, bearing: 51.912829 deg, deltaT: 4.463986 s, approachRate: -0.725807 m/s, LOS rate: -0.213742 deg/s, posRepo size: 4
2021-08-15T02:11:56.112Z,1628993516.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.360008 m,
      bearing: 51.912829 deg,
      approachRate: -0.725807 m/s,
      LOS rate: -0.213742 deg/s,
      cmd update: -0.854967 deg/s,
      cmd heading: 76.330828 deg,
      new cmd heading: 77.108599 deg.

2021-08-15T02:11:56.869Z,1628993516.869 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-15T02:11:58.463Z,1628993518.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:11:58.845Z,1628993518.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:11:58.845Z,1628993518.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:11:58.845Z,1628993518.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:11:58.846Z,1628993518.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:11:59.249Z,1628993519.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A9,000,0065F,186,80,80,66,FF
2021-08-15T02:11:59.250Z,1628993519.250 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:11:59.250Z,1628993519.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:11:59.252Z,1628993519.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:11:59.684Z,1628993519.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:12:00.113Z,1628993520.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29B,000,00638,189,80,80,A1,FF
2021-08-15T02:12:00.114Z,1628993520.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:12:00.497Z,1628993520.497 [Micromodem](INFO): Nmea in: $SNTTA,0.089662,,,,021200.56*41

2021-08-15T02:12:00.516Z,1628993520.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.020004 m, bearing: 45.740250 deg, deltaT: 4.429865 s, approachRate: -0.528234 m/s, LOS rate: -1.393401 deg/s, posRepo size: 4
2021-08-15T02:12:00.518Z,1628993520.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.020004 m,
      bearing: 45.740250 deg,
      approachRate: -0.528234 m/s,
      LOS rate: -1.393401 deg/s,
      cmd update: -5.573604 deg/s,
      cmd heading: 72.543284 deg,
      new cmd heading: 72.226728 deg.

2021-08-15T02:12:02.931Z,1628993522.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:12:03.297Z,1628993523.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:12:03.297Z,1628993523.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:12:03.297Z,1628993523.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:12:03.298Z,1628993523.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:12:03.733Z,1628993523.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29B,000,00638,189,80,80,A1,FF
2021-08-15T02:12:03.733Z,1628993523.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:12:03.734Z,1628993523.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:12:03.735Z,1628993523.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:12:04.109Z,1628993524.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:12:04.505Z,1628993524.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26F,000,00609,189,80,80,88,FF
2021-08-15T02:12:04.506Z,1628993524.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:12:04.938Z,1628993524.938 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021205.04*5E

2021-08-15T02:12:04.964Z,1628993524.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.199997 m, bearing: 46.180897 deg, deltaT: 4.414028 s, approachRate: -0.638874 m/s, LOS rate: 0.099829 deg/s, posRepo size: 4
2021-08-15T02:12:04.966Z,1628993524.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.199997 m,
      bearing: 46.180897 deg,
      approachRate: -0.638874 m/s,
      LOS rate: 0.099829 deg/s,
      cmd update: 0.399314 deg/s,
      cmd heading: 47.939835 deg,
      new cmd heading: 45.686131 deg.

2021-08-15T02:12:07.383Z,1628993527.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:12:07.777Z,1628993527.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:12:07.777Z,1628993527.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:12:07.777Z,1628993527.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:12:07.778Z,1628993527.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:12:08.185Z,1628993528.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26F,000,00609,189,80,80,88,FF
2021-08-15T02:12:08.185Z,1628993528.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:12:08.185Z,1628993528.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:12:08.187Z,1628993528.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:12:08.585Z,1628993528.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:12:08.973Z,1628993528.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,005D8,186,80,80,86,FF
2021-08-15T02:12:08.973Z,1628993528.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:12:09.383Z,1628993529.383 [Micromodem](INFO): Nmea in: $SNTTA,0.050283,,,,021209.49*49

2021-08-15T02:12:09.459Z,1628993529.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.260002 m, bearing: 54.040586 deg, deltaT: 4.435919 s, approachRate: -0.662770 m/s, LOS rate: 1.771829 deg/s, posRepo size: 4
2021-08-15T02:12:09.465Z,1628993529.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.260002 m,
      bearing: 54.040586 deg,
      approachRate: -0.662770 m/s,
      LOS rate: 1.771829 deg/s,
      cmd update: 7.087316 deg/s,
      cmd heading: 49.712809 deg,
      new cmd heading: 49.886950 deg.

2021-08-15T02:12:10.990Z,1628993530.990 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T02:12:11.819Z,1628993531.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:12:12.193Z,1628993532.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:12:12.193Z,1628993532.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:12:12.193Z,1628993532.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:12:12.194Z,1628993532.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:12:12.585Z,1628993532.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,005D8,186,80,80,86,FF
2021-08-15T02:12:12.585Z,1628993532.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:12:12.585Z,1628993532.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:12:12.587Z,1628993532.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:12:12.991Z,1628993532.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:12:13.401Z,1628993533.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,005B1,183,80,80,89,FF
2021-08-15T02:12:13.401Z,1628993533.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:12:13.842Z,1628993533.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021213.89*5C

2021-08-15T02:12:13.868Z,1628993533.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.920002 m, bearing: 53.705258 deg, deltaT: 4.474173 s, approachRate: -0.523002 m/s, LOS rate: -0.074948 deg/s, posRepo size: 4
2021-08-15T02:12:13.870Z,1628993533.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.920002 m,
      bearing: 53.705258 deg,
      approachRate: -0.523002 m/s,
      LOS rate: -0.074948 deg/s,
      cmd update: -0.299790 deg/s,
      cmd heading: 81.394287 deg,
      new cmd heading: 84.213678 deg.

2021-08-15T02:12:16.259Z,1628993536.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:12:16.625Z,1628993536.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:12:16.625Z,1628993536.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:12:16.625Z,1628993536.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:12:16.626Z,1628993536.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:12:17.037Z,1628993537.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,005B1,183,80,80,89,FF
2021-08-15T02:12:17.037Z,1628993537.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:12:17.037Z,1628993537.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:12:17.039Z,1628993537.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:12:17.437Z,1628993537.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:12:17.833Z,1628993537.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,168,000,0057B,186,80,80,B1,FF
2021-08-15T02:12:17.834Z,1628993537.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:12:18.277Z,1628993538.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021218.34*51

2021-08-15T02:12:18.300Z,1628993538.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.680000 m, bearing: 48.988524 deg, deltaT: 4.427435 s, approachRate: -0.731801 m/s, LOS rate: -1.065342 deg/s, posRepo size: 4
2021-08-15T02:12:18.302Z,1628993538.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.680000 m,
      bearing: 48.988524 deg,
      approachRate: -0.731801 m/s,
      LOS rate: -1.065342 deg/s,
      cmd update: -4.261370 deg/s,
      cmd heading: 80.067002 deg,
      new cmd heading: 79.946409 deg.

2021-08-15T02:12:20.758Z,1628993540.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:12:21.245Z,1628993541.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:12:21.246Z,1628993541.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:12:21.246Z,1628993541.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:12:21.247Z,1628993541.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:12:21.493Z,1628993541.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
168,000,0057B,186,80,80,B1,FF
2021-08-15T02:12:21.493Z,1628993541.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:12:21.493Z,1628993541.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:12:21.495Z,1628993541.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:12:21.905Z,1628993541.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:12:22.301Z,1628993542.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,326,000,00550,189,80,80,A0,FF
2021-08-15T02:12:22.302Z,1628993542.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:12:22.757Z,1628993542.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021222.80*57

2021-08-15T02:12:22.783Z,1628993542.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.100002 m, bearing: 39.810010 deg, deltaT: 4.422157 s, approachRate: -0.583425 m/s, LOS rate: -2.075574 deg/s, posRepo size: 4
2021-08-15T02:12:22.785Z,1628993542.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.100002 m,
      bearing: 39.810010 deg,
      approachRate: -0.583425 m/s,
      LOS rate: -2.075574 deg/s,
      cmd update: -8.302296 deg/s,
      cmd heading: 61.205311 deg,
      new cmd heading: 59.249820 deg.

2021-08-15T02:12:25.197Z,1628993545.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:12:25.509Z,1628993545.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:12:25.509Z,1628993545.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:12:25.509Z,1628993545.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:12:25.510Z,1628993545.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:12:25.921Z,1628993545.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
326,000,00550,189,80,80,A0,FF
2021-08-15T02:12:25.921Z,1628993545.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:12:25.922Z,1628993545.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:12:25.932Z,1628993545.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:12:26.333Z,1628993546.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:12:26.729Z,1628993546.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26C,000,00520,188,80,80,A0,FF
2021-08-15T02:12:26.729Z,1628993546.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:12:27.201Z,1628993547.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021227.24*5C

2021-08-15T02:12:27.254Z,1628993547.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.220001 m, bearing: 42.695588 deg, deltaT: 4.485113 s, approachRate: -0.642125 m/s, LOS rate: 0.643368 deg/s, posRepo size: 4
2021-08-15T02:12:27.272Z,1628993547.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.220001 m,
      bearing: 42.695588 deg,
      approachRate: -0.642125 m/s,
      LOS rate: 0.643368 deg/s,
      cmd update: 2.573471 deg/s,
      cmd heading: 24.038416 deg,
      new cmd heading: 20.282317 deg.

2021-08-15T02:12:29.576Z,1628993549.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:12:29.961Z,1628993549.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:12:29.961Z,1628993549.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:12:29.961Z,1628993549.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:12:29.962Z,1628993549.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:12:30.365Z,1628993550.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26C,000,00520,188,80,80,A0,FF
2021-08-15T02:12:30.365Z,1628993550.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:12:30.365Z,1628993550.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:12:30.367Z,1628993550.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:12:30.941Z,1628993550.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:12:31.225Z,1628993551.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,004F3,186,80,80,7D,FF
2021-08-15T02:12:31.225Z,1628993551.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:12:31.704Z,1628993551.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.520000 m, bearing: 48.997984 deg, deltaT: 4.507497 s, approachRate: -0.599002 m/s, LOS rate: 1.398203 deg/s, posRepo size: 4
2021-08-15T02:12:31.705Z,1628993551.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.52 m.
2021-08-15T02:12:31.707Z,1628993551.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.520000 m,
      bearing: 48.997984 deg,
      approachRate: -0.599002 m/s,
      LOS rate: 1.398203 deg/s,
      cmd update: 5.592812 deg/s,
      cmd heading: 35.659749 deg,
      new cmd heading: 36.647493 deg.

2021-08-15T02:12:32.065Z,1628993552.065 [PowerOnly](INFO): Powering up loadControl
2021-08-15T02:12:32.131Z,1628993552.131 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T02:12:32.131Z,1628993552.131 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:12:32.131Z,1628993552.131 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T02:12:32.133Z,1628993552.133 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T02:12:32.133Z,1628993552.133 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T02:12:32.133Z,1628993552.133 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T02:12:32.499Z,1628993552.499 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T02:12:32.499Z,1628993552.499 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:12:32.499Z,1628993552.499 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T02:12:32.499Z,1628993552.499 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:12:34.117Z,1628993554.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:12:34.457Z,1628993554.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:12:34.457Z,1628993554.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:12:34.458Z,1628993554.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:12:34.459Z,1628993554.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:12:34.985Z,1628993554.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,004F3,186,80,80,7D,FF
2021-08-15T02:12:34.985Z,1628993554.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:12:34.986Z,1628993554.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:12:34.987Z,1628993554.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:12:35.381Z,1628993555.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:12:35.797Z,1628993555.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,004BE,187,80,80,97,FF
2021-08-15T02:12:35.797Z,1628993555.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:12:35.849Z,1628993555.849 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:12:36.197Z,1628993556.197 [Micromodem](INFO): Nmea in: $SNTTA,0.025713,,,,021236.29*4D

2021-08-15T02:12:36.214Z,1628993556.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.340000 m, bearing: 48.290674 deg, deltaT: 4.530110 s, approachRate: -0.701970 m/s, LOS rate: -0.156135 deg/s, posRepo size: 4
2021-08-15T02:12:36.215Z,1628993556.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.34 m.
2021-08-15T02:12:36.233Z,1628993556.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.340000 m,
      bearing: 48.290674 deg,
      approachRate: -0.701970 m/s,
      LOS rate: -0.156135 deg/s,
      cmd update: -0.624542 deg/s,
      cmd heading: 60.993282 deg,
      new cmd heading: 63.053607 deg.

2021-08-15T02:12:38.590Z,1628993558.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:12:38.957Z,1628993558.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:12:38.958Z,1628993558.958 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:12:38.958Z,1628993558.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:12:38.959Z,1628993558.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:12:39.364Z,1628993559.364 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,004BE,187,80,80,97,FF
2021-08-15T02:12:39.364Z,1628993559.364 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:12:39.365Z,1628993559.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:12:39.367Z,1628993559.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:12:39.787Z,1628993559.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:12:40.610Z,1628993560.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021240.67*5A

2021-08-15T02:12:41.438Z,1628993561.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:12:43.005Z,1628993563.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,97,FF
2021-08-15T02:12:43.005Z,1628993563.005 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,97,FF
2021-08-15T02:12:43.005Z,1628993563.005 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:12:44.264Z,1628993564.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:12:44.633Z,1628993564.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:12:44.633Z,1628993564.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:12:44.633Z,1628993564.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:12:44.634Z,1628993564.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:12:45.049Z,1628993565.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,97,FF
2021-08-15T02:12:45.049Z,1628993565.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:12:45.049Z,1628993565.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:12:45.051Z,1628993565.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:12:45.425Z,1628993565.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:12:45.838Z,1628993565.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,00461,186,80,80,59,FF
2021-08-15T02:12:45.838Z,1628993565.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:12:45.912Z,1628993565.912 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:12:46.257Z,1628993566.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021246.36*58

2021-08-15T02:12:46.289Z,1628993566.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.760000 m, bearing: 40.731608 deg, deltaT: 10.063093 s, approachRate: -0.554501 m/s, LOS rate: -0.751167 deg/s, posRepo size: 4
2021-08-15T02:12:46.290Z,1628993566.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.76 m.
2021-08-15T02:12:46.290Z,1628993566.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.76 m.
2021-08-15T02:12:46.290Z,1628993566.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T02:12:46.294Z,1628993566.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.760000 m,
      bearing: 40.731608 deg,
      approachRate: -0.554501 m/s,
      LOS rate: -0.751167 deg/s,
      cmd update: -3.004669 deg/s,
      cmd heading: 54.713492 deg,
      new cmd heading: 54.471235 deg.

2021-08-15T02:12:48.822Z,1628993568.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:12:49.137Z,1628993569.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:12:49.137Z,1628993569.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:12:49.138Z,1628993569.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:12:49.139Z,1628993569.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:12:49.497Z,1628993569.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,00461,186,80,80,59,FF
2021-08-15T02:12:49.497Z,1628993569.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:12:49.497Z,1628993569.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:12:49.499Z,1628993569.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:12:49.909Z,1628993569.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:12:50.282Z,1628993570.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,138,000,00247,186,80,80,88,FF
2021-08-15T02:12:50.282Z,1628993570.282 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-15T02:12:50.745Z,1628993570.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021250.80*52

2021-08-15T02:12:51.562Z,1628993571.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:12:54.347Z,1628993574.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:12:54.729Z,1628993574.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:12:54.729Z,1628993574.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:12:54.729Z,1628993574.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:12:54.730Z,1628993574.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:12:55.153Z,1628993575.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
138,000,00247,186,80,80,88,FF
2021-08-15T02:12:55.153Z,1628993575.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:12:55.154Z,1628993575.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:12:55.183Z,1628993575.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:12:55.532Z,1628993575.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:12:55.937Z,1628993575.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,003F2,186,80,80,9A,FF
2021-08-15T02:12:55.938Z,1628993575.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:12:55.995Z,1628993575.995 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:12:56.375Z,1628993576.375 [Micromodem](INFO): Nmea in: $SNTTA,0.015196,,,,021256.49*45

2021-08-15T02:12:56.417Z,1628993576.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 46.998040 deg, deltaT: 10.082719 s, approachRate: -0.660536 m/s, LOS rate: 0.621502 deg/s, posRepo size: 4
2021-08-15T02:12:56.419Z,1628993576.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.099997 m,
      bearing: 46.998040 deg,
      approachRate: -0.660536 m/s,
      LOS rate: 0.621502 deg/s,
      cmd update: 2.486009 deg/s,
      cmd heading: 24.393826 deg,
      new cmd heading: 23.127959 deg.

2021-08-15T02:12:58.818Z,1628993578.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:12:59.217Z,1628993579.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:12:59.217Z,1628993579.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:12:59.217Z,1628993579.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:12:59.218Z,1628993579.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:12:59.577Z,1628993579.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,003F2,186,80,80,9A,FF
2021-08-15T02:12:59.577Z,1628993579.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:12:59.577Z,1628993579.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:12:59.579Z,1628993579.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:12:59.989Z,1628993579.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:13:00.389Z,1628993580.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,003C7,188,80,80,6D,FF
2021-08-15T02:13:00.390Z,1628993580.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:13:00.441Z,1628993580.441 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:13:00.861Z,1628993580.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021300.88*5E

2021-08-15T02:13:00.914Z,1628993580.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.519997 m, bearing: 53.019193 deg, deltaT: 4.445934 s, approachRate: -0.580306 m/s, LOS rate: 1.354306 deg/s, posRepo size: 4
2021-08-15T02:13:00.921Z,1628993580.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.519997 m,
      bearing: 53.019193 deg,
      approachRate: -0.580306 m/s,
      LOS rate: 1.354306 deg/s,
      cmd update: 5.417222 deg/s,
      cmd heading: 35.421895 deg,
      new cmd heading: 36.631321 deg.

2021-08-15T02:13:03.294Z,1628993583.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:13:03.610Z,1628993583.610 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:13:03.610Z,1628993583.610 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:13:03.611Z,1628993583.611 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:13:03.612Z,1628993583.612 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:13:04.021Z,1628993584.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,003C7,188,80,80,6D,FF
2021-08-15T02:13:04.021Z,1628993584.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:13:04.021Z,1628993584.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:13:04.023Z,1628993584.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:13:04.433Z,1628993584.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:13:04.818Z,1628993584.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,0039D,186,80,80,9C,FF
2021-08-15T02:13:04.818Z,1628993584.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:13:04.849Z,1628993584.849 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:13:05.269Z,1628993585.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021305.33*5B

2021-08-15T02:13:05.339Z,1628993585.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.000000 m, bearing: 49.256128 deg, deltaT: 4.408373 s, approachRate: -0.571639 m/s, LOS rate: -0.853618 deg/s, posRepo size: 4
2021-08-15T02:13:05.345Z,1628993585.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.000000 m,
      bearing: 49.256128 deg,
      approachRate: -0.571639 m/s,
      LOS rate: -0.853618 deg/s,
      cmd update: -3.414471 deg/s,
      cmd heading: 59.354366 deg,
      new cmd heading: 62.027321 deg.

2021-08-15T02:13:07.734Z,1628993587.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:13:08.053Z,1628993588.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:13:08.053Z,1628993588.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:13:08.053Z,1628993588.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:13:08.054Z,1628993588.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:13:08.469Z,1628993588.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,0039D,186,80,80,9C,FF
2021-08-15T02:13:08.470Z,1628993588.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:13:08.470Z,1628993588.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:13:08.472Z,1628993588.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:13:08.869Z,1628993588.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:13:09.277Z,1628993589.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,0037C,187,80,80,6E,FF
2021-08-15T02:13:09.277Z,1628993589.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:13:09.359Z,1628993589.359 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:13:09.729Z,1628993589.729 [Micromodem](INFO): Nmea in: $SNTTA,0.037284,,,,021309.78*4C

2021-08-15T02:13:09.756Z,1628993589.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.019999 m, bearing: 41.449539 deg, deltaT: 4.514357 s, approachRate: -0.438601 m/s, LOS rate: -1.729280 deg/s, posRepo size: 4
2021-08-15T02:13:09.758Z,1628993589.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.019999 m,
      bearing: 41.449539 deg,
      approachRate: -0.438601 m/s,
      LOS rate: -1.729280 deg/s,
      cmd update: -6.917121 deg/s,
      cmd heading: 43.967169 deg,
      new cmd heading: 42.588064 deg.

2021-08-15T02:13:12.125Z,1628993592.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:13:12.501Z,1628993592.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:13:12.501Z,1628993592.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:13:12.502Z,1628993592.502 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:13:12.503Z,1628993592.503 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:13:12.910Z,1628993592.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,0037C,187,80,80,6E,FF
2021-08-15T02:13:12.910Z,1628993592.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:13:12.910Z,1628993592.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:13:12.912Z,1628993592.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:13:13.378Z,1628993593.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:13:13.769Z,1628993593.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,00352,184,80,80,44,FF
2021-08-15T02:13:13.770Z,1628993593.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:13:13.824Z,1628993593.824 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:13:14.207Z,1628993594.207 [Micromodem](INFO): Nmea in: $SNTTA,0.028172,,,,021314.22*4B

2021-08-15T02:13:14.228Z,1628993594.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 50.229621 deg, deltaT: 4.460831 s, approachRate: -0.564916 m/s, LOS rate: 1.968261 deg/s, posRepo size: 4
2021-08-15T02:13:14.230Z,1628993594.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 50.229621 deg,
      approachRate: -0.564916 m/s,
      LOS rate: 1.968261 deg/s,
      cmd update: 7.873046 deg/s,
      cmd heading: 13.054458 deg,
      new cmd heading: 10.242648 deg.

2021-08-15T02:13:16.696Z,1628993596.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:13:17.005Z,1628993597.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:13:17.005Z,1628993597.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:13:17.005Z,1628993597.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:13:17.006Z,1628993597.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:13:17.417Z,1628993597.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,00352,184,80,80,44,FF
2021-08-15T02:13:17.418Z,1628993597.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:13:17.418Z,1628993597.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:13:17.421Z,1628993597.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:13:17.809Z,1628993597.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:13:18.215Z,1628993598.215 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,0031B,187,80,80,9D,FF
2021-08-15T02:13:18.215Z,1628993598.215 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:13:18.244Z,1628993598.244 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:13:18.648Z,1628993598.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021318.73*53

2021-08-15T02:13:18.709Z,1628993598.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.200003 m, bearing: 60.149255 deg, deltaT: 4.419388 s, approachRate: -0.746710 m/s, LOS rate: 2.244572 deg/s, posRepo size: 4
2021-08-15T02:13:18.711Z,1628993598.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 60.149255 deg,
      approachRate: -0.746710 m/s,
      LOS rate: 2.244572 deg/s,
      cmd update: 8.978287 deg/s,
      cmd heading: 47.848539 deg,
      new cmd heading: 51.537242 deg.

2021-08-15T02:13:21.063Z,1628993601.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:13:21.438Z,1628993601.438 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:13:21.438Z,1628993601.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:13:21.439Z,1628993601.439 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:13:21.440Z,1628993601.440 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:13:21.842Z,1628993601.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,0031B,187,80,80,9D,FF
2021-08-15T02:13:21.843Z,1628993601.843 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:13:21.843Z,1628993601.843 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:13:21.845Z,1628993601.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:13:22.257Z,1628993602.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:13:22.681Z,1628993602.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D12,000,002FE,189,80,80,AD,FF
2021-08-15T02:13:22.682Z,1628993602.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:13:22.745Z,1628993602.745 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:13:23.110Z,1628993603.110 [Micromodem](INFO): Nmea in: $SNTTA,0.031510,,,,021323.15*43

2021-08-15T02:13:23.193Z,1628993603.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.460000 m, bearing: 65.581045 deg, deltaT: 4.500973 s, approachRate: -0.386584 m/s, LOS rate: 1.206803 deg/s, posRepo size: 4
2021-08-15T02:13:23.195Z,1628993603.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.460000 m,
      bearing: 65.581045 deg,
      approachRate: -0.386584 m/s,
      LOS rate: 1.206803 deg/s,
      cmd update: 4.827214 deg/s,
      cmd heading: 88.224668 deg,
      new cmd heading: 92.317447 deg.

2021-08-15T02:13:25.576Z,1628993605.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:13:25.889Z,1628993605.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:13:25.889Z,1628993605.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:13:25.889Z,1628993605.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:13:25.890Z,1628993605.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:13:26.290Z,1628993606.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D12,000,002FE,189,80,80,AD,FF
2021-08-15T02:13:26.290Z,1628993606.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:13:26.290Z,1628993606.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:13:26.291Z,1628993606.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:13:26.733Z,1628993606.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:13:27.098Z,1628993607.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1F,000,002FE,189,80,80,76,FF
2021-08-15T02:13:27.098Z,1628993607.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:13:27.200Z,1628993607.200 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:13:27.541Z,1628993607.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021327.60*5D

2021-08-15T02:13:27.591Z,1628993607.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.460000 m, bearing: 77.153974 deg, deltaT: 4.455679 s, approachRate: 0.000000 m/s, LOS rate: 2.597344 deg/s, posRepo size: 4
2021-08-15T02:13:27.593Z,1628993607.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.460000 m,
      bearing: 77.153974 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.597344 deg/s,
      cmd update: 10.389374 deg/s,
      cmd heading: 109.674365 deg,
      new cmd heading: 111.653609 deg.

2021-08-15T02:13:29.984Z,1628993609.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:13:30.337Z,1628993610.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:13:30.337Z,1628993610.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:13:30.337Z,1628993610.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:13:30.338Z,1628993610.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:13:30.762Z,1628993610.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1F,000,002FE,189,80,80,76,FF
2021-08-15T02:13:30.762Z,1628993610.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:13:30.763Z,1628993610.763 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:13:30.768Z,1628993610.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:13:31.174Z,1628993611.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:13:31.546Z,1628993611.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,164,000,002E1,186,80,80,8D,FF
2021-08-15T02:13:31.546Z,1628993611.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:13:31.591Z,1628993611.591 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:13:31.975Z,1628993611.975 [Micromodem](INFO): Nmea in: $SNTTA,0.044746,,,,021332.07*43

2021-08-15T02:13:32.006Z,1628993612.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.719998 m, bearing: 38.908832 deg, deltaT: 4.390246 s, approachRate: -0.396334 m/s, LOS rate: -8.711390 deg/s, posRepo size: 4
2021-08-15T02:13:32.009Z,1628993612.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 38.908832 deg,
      approachRate: -0.396334 m/s,
      LOS rate: -8.711390 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 155.455735 deg,
      new cmd heading: 159.803729 deg.

2021-08-15T02:13:34.410Z,1628993614.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:13:34.777Z,1628993614.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:13:34.778Z,1628993614.778 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:13:34.778Z,1628993614.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:13:34.779Z,1628993614.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:13:35.209Z,1628993615.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
164,000,002E1,186,80,80,8D,FF
2021-08-15T02:13:35.209Z,1628993615.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:13:35.209Z,1628993615.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:13:35.211Z,1628993615.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:13:35.598Z,1628993615.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:13:35.981Z,1628993615.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,002E5,183,80,80,77,FF
2021-08-15T02:13:35.982Z,1628993615.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:13:36.045Z,1628993616.045 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:13:36.419Z,1628993616.419 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021336.52*5C

2021-08-15T02:13:36.457Z,1628993616.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.960000 m, bearing: 73.854282 deg, deltaT: 4.454316 s, approachRate: 0.053881 m/s, LOS rate: 7.845301 deg/s, posRepo size: 4
2021-08-15T02:13:36.459Z,1628993616.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.960000 m,
      bearing: 73.854282 deg,
      approachRate: 0.053881 m/s,
      LOS rate: 7.845301 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 102.054642 deg,
      new cmd heading: 97.070789 deg.

2021-08-15T02:13:38.869Z,1628993618.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:13:39.217Z,1628993619.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:13:39.217Z,1628993619.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:13:39.217Z,1628993619.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:13:39.218Z,1628993619.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:13:39.633Z,1628993619.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,002E5,183,80,80,77,FF
2021-08-15T02:13:39.633Z,1628993619.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:13:39.633Z,1628993619.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:13:39.635Z,1628993619.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:13:40.029Z,1628993620.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:13:40.870Z,1628993620.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021340.94*57

2021-08-15T02:13:41.766Z,1628993621.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:13:42.941Z,1628993622.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D54,000,07E01,189,80,80,75,FF
2021-08-15T02:13:42.942Z,1628993622.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:13:43.001Z,1628993623.001 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:13:43.338Z,1628993623.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1897.920044 m, bearing: 134.650978 deg, deltaT: 6.955622 s, approachRate: 271.860687 m/s, LOS rate: 8.740655 deg/s, posRepo size: 4
2021-08-15T02:13:43.341Z,1628993623.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1897.920044 m,
      bearing: 134.650978 deg,
      approachRate: 271.860687 m/s,
      LOS rate: 8.740655 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 185.573060 deg,
      new cmd heading: 189.663572 deg.

2021-08-15T02:13:43.728Z,1628993623.728 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T02:13:43.728Z,1628993623.728 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T02:13:43.729Z,1628993623.729 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T02:13:43.729Z,1628993623.729 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T02:13:43.730Z,1628993623.730 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T02:13:43.730Z,1628993623.730 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T02:13:44.117Z,1628993624.117 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T02:13:44.117Z,1628993624.117 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T02:13:44.118Z,1628993624.118 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T02:13:44.118Z,1628993624.118 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T02:13:45.786Z,1628993625.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:13:46.093Z,1628993626.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:13:46.093Z,1628993626.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:13:46.093Z,1628993626.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:13:46.094Z,1628993626.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:13:46.489Z,1628993626.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D54,000,07E01,189,80,80,75,FF
2021-08-15T02:13:46.489Z,1628993626.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:13:46.489Z,1628993626.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:13:46.491Z,1628993626.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:13:46.897Z,1628993626.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:13:47.293Z,1628993627.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,0031A,187,80,80,7D,FF
2021-08-15T02:13:47.294Z,1628993627.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:13:47.754Z,1628993627.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021347.80*55

2021-08-15T02:13:47.781Z,1628993627.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.139999 m, bearing: 143.046209 deg, deltaT: 4.361630 s, approachRate: -432.815247 m/s, LOS rate: 1.924792 deg/s, posRepo size: 4
2021-08-15T02:13:47.783Z,1628993627.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.139999 m,
      bearing: 143.046209 deg,
      approachRate: -432.815247 m/s,
      LOS rate: 1.924792 deg/s,
      cmd update: 7.699169 deg/s,
      cmd heading: 237.911722 deg,
      new cmd heading: 242.968438 deg.

2021-08-15T02:13:48.155Z,1628993628.155 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T02:13:48.155Z,1628993628.155 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:13:48.155Z,1628993628.155 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T02:13:48.157Z,1628993628.157 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T02:13:48.157Z,1628993628.157 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T02:13:48.157Z,1628993628.157 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T02:13:48.557Z,1628993628.557 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T02:13:48.557Z,1628993628.557 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:13:48.557Z,1628993628.557 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T02:13:48.557Z,1628993628.557 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:13:50.173Z,1628993630.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:13:50.533Z,1628993630.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:13:50.533Z,1628993630.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:13:50.533Z,1628993630.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:13:50.534Z,1628993630.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:13:50.941Z,1628993630.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,0031A,187,80,80,7D,FF
2021-08-15T02:13:50.941Z,1628993630.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:13:50.941Z,1628993630.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:13:50.943Z,1628993630.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:13:51.340Z,1628993631.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:13:51.741Z,1628993631.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,00315,186,80,80,B0,FF
2021-08-15T02:13:51.742Z,1628993631.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:13:51.815Z,1628993631.815 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:13:52.189Z,1628993632.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021352.25*5E

2021-08-15T02:13:52.212Z,1628993632.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.839999 m, bearing: 160.299185 deg, deltaT: 4.452662 s, approachRate: -0.067375 m/s, LOS rate: 3.874755 deg/s, posRepo size: 4
2021-08-15T02:13:52.214Z,1628993632.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.839999 m,
      bearing: 160.299185 deg,
      approachRate: -0.067375 m/s,
      LOS rate: 3.874755 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 272.162435 deg,
      new cmd heading: 275.272507 deg.

2021-08-15T02:13:54.607Z,1628993634.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:13:54.981Z,1628993634.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:13:54.981Z,1628993634.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:13:54.981Z,1628993634.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:13:54.982Z,1628993634.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:13:55.444Z,1628993635.444 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,00315,186,80,80,B0,FF
2021-08-15T02:13:55.444Z,1628993635.444 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:13:55.445Z,1628993635.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:13:55.446Z,1628993635.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:13:55.874Z,1628993635.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:13:56.313Z,1628993636.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,00320,188,80,80,91,FF
2021-08-15T02:13:56.313Z,1628993636.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:13:56.354Z,1628993636.354 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:13:56.745Z,1628993636.745 [Micromodem](INFO): Nmea in: $SNTTA,0.032267,,,,021356.75*43

2021-08-15T02:13:56.784Z,1628993636.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.500002 m, bearing: 181.728248 deg, deltaT: 4.539373 s, approachRate: 0.145395 m/s, LOS rate: 4.720710 deg/s, posRepo size: 4
2021-08-15T02:13:56.786Z,1628993636.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.500002 m,
      bearing: 181.728248 deg,
      approachRate: 0.145395 m/s,
      LOS rate: 4.720710 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 326.437189 deg,
      new cmd heading: 331.878301 deg.

2021-08-15T02:13:59.132Z,1628993639.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:13:59.473Z,1628993639.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:13:59.473Z,1628993639.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:13:59.474Z,1628993639.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:13:59.474Z,1628993639.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:13:59.877Z,1628993639.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,00320,188,80,80,91,FF
2021-08-15T02:13:59.877Z,1628993639.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:13:59.877Z,1628993639.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:13:59.879Z,1628993639.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:13:59.953Z,1628993639.953 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T02:14:00.309Z,1628993640.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:14:00.723Z,1628993640.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB4,000,00327,189,80,80,98,FF
2021-08-15T02:14:00.723Z,1628993640.723 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:14:00.755Z,1628993640.755 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:14:01.166Z,1628993641.166 [Micromodem](INFO): Nmea in: $SNTTA,0.009316,,,,021401.19*43

2021-08-15T02:14:01.228Z,1628993641.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 202.196644 deg, deltaT: 4.400663 s, approachRate: 0.095440 m/s, LOS rate: 4.651207 deg/s, posRepo size: 4
2021-08-15T02:14:01.230Z,1628993641.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 202.196644 deg,
      approachRate: 0.095440 m/s,
      LOS rate: 4.651207 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 19.492071 deg,
      new cmd heading: 25.206027 deg.

2021-08-15T02:14:03.547Z,1628993643.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:14:03.940Z,1628993643.940 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:14:03.941Z,1628993643.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:14:03.941Z,1628993643.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:14:03.941Z,1628993643.941 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:14:04.345Z,1628993644.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB4,000,00327,189,80,80,98,FF
2021-08-15T02:14:04.345Z,1628993644.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:14:04.345Z,1628993644.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:14:04.347Z,1628993644.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:14:04.744Z,1628993644.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:14:05.207Z,1628993645.207 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,00334,186,80,80,AB,FF
2021-08-15T02:14:05.207Z,1628993645.207 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:14:05.211Z,1628993645.211 [Micromodem](INFO): Nmea in: $SNTTA,0.050794,0.291210,,,021405.66*5A

2021-08-15T02:14:05.270Z,1628993645.270 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:14:05.586Z,1628993645.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.700000 m, bearing: 193.132874 deg, deltaT: 4.515085 s, approachRate: 0.172754 m/s, LOS rate: -2.007442 deg/s, posRepo size: 4
2021-08-15T02:14:05.587Z,1628993645.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 11.70 m.
2021-08-15T02:14:05.588Z,1628993645.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 11.70 m. Cable present.
2021-08-15T02:14:05.588Z,1628993645.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-15T02:14:05.588Z,1628993645.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T02:14:05.588Z,1628993645.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-15T02:14:05.969Z,1628993645.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-15T02:14:05.969Z,1628993645.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-15T02:14:05.969Z,1628993645.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-15T02:14:06.387Z,1628993646.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-15T02:14:06.388Z,1628993646.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T02:14:06.388Z,1628993646.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-15T02:14:06.389Z,1628993646.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T02:14:06.389Z,1628993646.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-15T02:14:06.389Z,1628993646.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-15T02:14:06.389Z,1628993646.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-15T02:14:06.389Z,1628993646.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T02:14:06.754Z,1628993646.754 [PowerOnly](INFO): Powering down loadControl
2021-08-15T02:14:06.796Z,1628993646.796 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-15T02:14:06.797Z,1628993646.797 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T02:14:06.797Z,1628993646.797 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-15T02:14:06.797Z,1628993646.797 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T02:14:06.797Z,1628993646.797 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-15T02:14:06.797Z,1628993646.797 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-15T02:14:06.798Z,1628993646.798 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-15T02:14:06.798Z,1628993646.798 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-15T02:14:06.798Z,1628993646.798 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-15T02:14:06.798Z,1628993646.798 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-15T02:14:06.798Z,1628993646.798 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-15T02:14:06.798Z,1628993646.798 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-15T02:14:06.799Z,1628993646.799 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T02:14:06.799Z,1628993646.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-15T02:14:06.799Z,1628993646.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T02:14:06.799Z,1628993646.799 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-15T02:14:06.799Z,1628993646.799 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-15T02:14:07.242Z,1628993647.242 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-15T02:14:07.242Z,1628993647.242 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T02:14:07.980Z,1628993647.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:14:08.356Z,1628993648.356 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:14:08.356Z,1628993648.356 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:14:08.356Z,1628993648.356 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:14:08.357Z,1628993648.357 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:14:08.820Z,1628993648.820 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,00334,186,80,80,AB,FF
2021-08-15T02:14:08.820Z,1628993648.820 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:14:08.820Z,1628993648.820 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:14:08.822Z,1628993648.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:14:09.216Z,1628993649.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:14:09.657Z,1628993649.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,00208,187,80,80,9F,FF
2021-08-15T02:14:09.658Z,1628993649.658 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-15T02:14:10.022Z,1628993650.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021410.13*5A

2021-08-15T02:14:10.429Z,1628993650.429 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-15T02:14:10.429Z,1628993650.429 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-15T02:14:10.429Z,1628993650.429 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T02:14:10.429Z,1628993650.429 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-15T02:14:10.844Z,1628993650.844 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-15T02:14:10.844Z,1628993650.844 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-15T02:14:10.846Z,1628993650.846 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-15T02:14:10.846Z,1628993650.846 [lineCaptureDepth:LineCapture] Stopped
2021-08-15T02:14:10.846Z,1628993650.846 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-15T02:14:10.846Z,1628993650.846 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-15T02:14:10.846Z,1628993650.846 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-15T02:14:10.847Z,1628993650.847 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-15T02:14:10.847Z,1628993650.847 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-15T02:14:10.847Z,1628993650.847 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-15T02:14:10.847Z,1628993650.847 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-15T02:14:10.847Z,1628993650.847 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-15T02:14:10.847Z,1628993650.847 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-15T02:14:10.847Z,1628993650.847 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-15T02:14:10.847Z,1628993650.847 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-15T02:14:10.847Z,1628993650.847 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T02:14:10.847Z,1628993650.847 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T02:14:10.847Z,1628993650.847 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T02:14:10.847Z,1628993650.847 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T02:14:10.848Z,1628993650.848 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T02:14:10.848Z,1628993650.848 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T02:14:10.848Z,1628993650.848 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T02:14:10.849Z,1628993650.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:14:11.260Z,1628993651.260 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-15T02:14:11.260Z,1628993651.260 [lineCaptureDepth:Lap:B] Stopped
2021-08-15T02:14:11.260Z,1628993651.260 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-15T02:14:11.261Z,1628993651.261 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-15T02:14:11.633Z,1628993651.633 [lineCaptureDepth:Lap:C] Stopped
2021-08-15T02:14:11.634Z,1628993651.634 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-15T02:14:12.053Z,1628993652.053 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-15T02:14:12.053Z,1628993652.053 [lineCaptureDepth:Lap:D] Stopped
2021-08-15T02:14:12.053Z,1628993652.053 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-15T02:14:12.053Z,1628993652.053 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-15T02:14:12.054Z,1628993652.054 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-15T02:14:12.412Z,1628993652.412 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-15T02:14:12.412Z,1628993652.412 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-15T02:14:12.412Z,1628993652.412 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-15T02:14:12.412Z,1628993652.412 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-15T02:14:12.412Z,1628993652.412 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-15T02:14:12.413Z,1628993652.413 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-15T02:14:12.413Z,1628993652.413 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-15T02:14:12.837Z,1628993652.837 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Detected possible state switch to DETACHED.
2021-08-15T02:14:13.732Z,1628993653.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:14:14.037Z,1628993654.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:14:14.037Z,1628993654.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:14:14.037Z,1628993654.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:14:14.038Z,1628993654.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:14:14.437Z,1628993654.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,00208,187,80,80,9F,FF
2021-08-15T02:14:14.437Z,1628993654.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:14:14.437Z,1628993654.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:14:14.439Z,1628993654.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:14:14.844Z,1628993654.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:14:15.253Z,1628993655.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,0036D,185,80,80,A0,FF
2021-08-15T02:14:15.254Z,1628993655.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:14:15.257Z,1628993655.257 [Micromodem](INFO): Nmea in: $SNTTA,0.046706,0.247647,,,021415.74*59

2021-08-15T02:14:18.224Z,1628993658.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:14:18.509Z,1628993658.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:14:18.510Z,1628993658.510 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:14:18.510Z,1628993658.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:14:18.511Z,1628993658.511 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:14:18.905Z,1628993658.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,0036D,185,80,80,A0,FF
2021-08-15T02:14:18.905Z,1628993658.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:14:18.905Z,1628993658.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:14:18.907Z,1628993658.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:14:19.322Z,1628993659.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:14:20.138Z,1628993660.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,010CD,186,80,80,46,FF
2021-08-15T02:14:20.138Z,1628993660.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:14:20.143Z,1628993660.143 [Micromodem](INFO): Nmea in: $SNTTA,0.172366,,,,021420.21*41

2021-08-15T02:14:23.050Z,1628993663.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:14:23.388Z,1628993663.388 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:14:23.388Z,1628993663.388 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:14:23.389Z,1628993663.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:14:23.389Z,1628993663.389 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:14:23.765Z,1628993663.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,010CD,186,80,80,46,FF
2021-08-15T02:14:23.765Z,1628993663.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:14:23.766Z,1628993663.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:14:23.767Z,1628993663.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:14:24.181Z,1628993664.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:14:24.530Z,1628993664.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,00392,186,80,80,7F,FF
2021-08-15T02:14:24.530Z,1628993664.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:14:24.997Z,1628993664.997 [Micromodem](INFO): Nmea in: $SNTTA,0.028369,,,,021425.07*41

2021-08-15T02:14:27.442Z,1628993667.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:14:27.793Z,1628993667.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:14:27.793Z,1628993667.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:14:27.793Z,1628993667.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:14:27.794Z,1628993667.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:14:28.205Z,1628993668.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,00392,186,80,80,7F,FF
2021-08-15T02:14:28.206Z,1628993668.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:14:28.206Z,1628993668.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:14:28.207Z,1628993668.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:14:28.626Z,1628993668.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:14:29.025Z,1628993669.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,0039E,186,80,80,A0,FF
2021-08-15T02:14:29.025Z,1628993669.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:14:31.857Z,1628993671.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:14:32.260Z,1628993672.260 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:14:32.261Z,1628993672.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:14:32.261Z,1628993672.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:14:32.262Z,1628993672.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:14:32.669Z,1628993672.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,0039E,186,80,80,A0,FF
2021-08-15T02:14:32.669Z,1628993672.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:14:32.669Z,1628993672.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:14:32.677Z,1628993672.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:14:33.065Z,1628993673.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:14:33.465Z,1628993673.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0D,000,003AA,186,80,80,B6,FF
2021-08-15T02:14:33.465Z,1628993673.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:14:33.889Z,1628993673.889 [Micromodem](INFO): Nmea in: $SNTTA,0.064737,,,,021433.98*47

2021-08-15T02:14:36.467Z,1628993676.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:14:36.756Z,1628993676.756 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:14:36.756Z,1628993676.756 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:14:36.757Z,1628993676.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:14:36.757Z,1628993676.757 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:14:37.133Z,1628993677.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0D,000,003AA,186,80,80,B6,FF
2021-08-15T02:14:37.133Z,1628993677.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:14:37.134Z,1628993677.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:14:37.141Z,1628993677.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:14:37.509Z,1628993677.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:14:37.901Z,1628993677.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,003B3,186,80,80,A5,FF
2021-08-15T02:14:37.902Z,1628993677.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:14:38.311Z,1628993678.311 [Micromodem](INFO): Nmea in: $SNTTA,0.040220,,,,021438.45*49

2021-08-15T02:14:40.838Z,1628993680.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:14:41.167Z,1628993681.167 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:14:41.167Z,1628993681.167 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:14:41.167Z,1628993681.167 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:14:41.168Z,1628993681.168 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:14:41.541Z,1628993681.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,003B3,186,80,80,A5,FF
2021-08-15T02:14:41.541Z,1628993681.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:14:41.541Z,1628993681.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:14:41.543Z,1628993681.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:14:41.951Z,1628993681.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:14:42.345Z,1628993682.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,003BD,184,80,80,7B,FF
2021-08-15T02:14:42.346Z,1628993682.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:14:42.774Z,1628993682.774 [Micromodem](INFO): Nmea in: $SNTTA,0.076097,,,,021442.85*43

2021-08-15T02:14:45.254Z,1628993685.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:14:45.553Z,1628993685.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:14:45.553Z,1628993685.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:14:45.553Z,1628993685.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:14:45.554Z,1628993685.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:14:45.946Z,1628993685.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,003BD,184,80,80,7B,FF
2021-08-15T02:14:45.946Z,1628993685.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:14:45.947Z,1628993685.947 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:14:45.949Z,1628993685.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:14:46.457Z,1628993686.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:14:46.785Z,1628993686.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,003C5,184,80,80,AD,FF
2021-08-15T02:14:46.786Z,1628993686.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:14:47.229Z,1628993687.229 [Micromodem](INFO): Nmea in: $SNTTA,0.029892,,,,021447.25*4B

2021-08-15T02:14:49.657Z,1628993689.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:14:50.101Z,1628993690.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:14:50.101Z,1628993690.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:14:50.101Z,1628993690.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:14:50.102Z,1628993690.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:14:50.421Z,1628993690.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,003C5,184,80,80,AD,FF
2021-08-15T02:14:50.421Z,1628993690.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:14:50.421Z,1628993690.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:14:50.423Z,1628993690.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:14:50.865Z,1628993690.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:14:51.237Z,1628993691.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,003CA,186,80,80,A5,FF
2021-08-15T02:14:51.237Z,1628993691.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:14:51.241Z,1628993691.241 [Micromodem](INFO): Nmea in: $SNTTA,0.016168,0.254343,,,021451.73*56

2021-08-15T02:14:54.075Z,1628993694.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:14:54.457Z,1628993694.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:14:54.457Z,1628993694.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:14:54.457Z,1628993694.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:14:54.458Z,1628993694.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:14:54.843Z,1628993694.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,003CA,186,80,80,A5,FF
2021-08-15T02:14:54.843Z,1628993694.843 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:14:54.843Z,1628993694.843 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:14:54.845Z,1628993694.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:14:55.274Z,1628993695.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:14:55.657Z,1628993695.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,178,000,003D8,186,80,80,74,FF
2021-08-15T02:14:55.658Z,1628993695.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:14:56.069Z,1628993696.069 [Micromodem](INFO): Nmea in: $SNTTA,0.028674,,,,021456.15*4F

2021-08-15T02:14:58.522Z,1628993698.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:14:58.901Z,1628993698.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:14:58.901Z,1628993698.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:14:58.901Z,1628993698.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:14:58.902Z,1628993698.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:14:59.305Z,1628993699.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
178,000,003D8,186,80,80,74,FF
2021-08-15T02:14:59.305Z,1628993699.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:14:59.305Z,1628993699.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:14:59.307Z,1628993699.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:14:59.724Z,1628993699.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:15:00.117Z,1628993700.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,003DE,188,80,80,48,FF
2021-08-15T02:15:00.118Z,1628993700.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:15:00.550Z,1628993700.550 [Micromodem](INFO): Nmea in: $SNTTA,0.201241,,,,021500.62*46

2021-08-15T02:15:03.013Z,1628993703.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:15:03.425Z,1628993703.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:15:03.425Z,1628993703.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:15:03.425Z,1628993703.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:15:03.426Z,1628993703.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:15:03.773Z,1628993703.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,003DE,188,80,80,48,FF
2021-08-15T02:15:03.774Z,1628993703.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:15:03.774Z,1628993703.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:15:03.775Z,1628993703.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:15:04.175Z,1628993704.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:15:04.569Z,1628993704.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8B,000,003EA,189,80,80,6C,FF
2021-08-15T02:15:04.570Z,1628993704.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:15:05.381Z,1628993705.381 [Micromodem](INFO): Nmea in: $SNTTA,0.050790,,,,021505.10*49

2021-08-15T02:15:07.437Z,1628993707.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:15:07.789Z,1628993707.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:15:07.789Z,1628993707.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:15:07.789Z,1628993707.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:15:07.790Z,1628993707.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:15:08.205Z,1628993708.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8B,000,003EA,189,80,80,6C,FF
2021-08-15T02:15:08.205Z,1628993708.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:15:08.205Z,1628993708.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:15:08.207Z,1628993708.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:15:08.601Z,1628993708.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:15:09.411Z,1628993709.411 [Micromodem](INFO): Nmea in: $SNTTA,0.402545,0.402739,,,021509.51*5C

2021-08-15T02:15:10.231Z,1628993710.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:15:11.825Z,1628993711.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,189,80,80,6C,FF
2021-08-15T02:15:11.825Z,1628993711.825 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,189,80,80,6C,FF
2021-08-15T02:15:11.826Z,1628993711.826 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:15:13.074Z,1628993713.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:15:13.449Z,1628993713.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:15:13.449Z,1628993713.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:15:13.449Z,1628993713.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:15:13.450Z,1628993713.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:15:13.849Z,1628993713.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,189,80,80,6C,FF
2021-08-15T02:15:13.849Z,1628993713.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:15:13.849Z,1628993713.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:15:13.851Z,1628993713.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:15:14.256Z,1628993714.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:15:14.674Z,1628993714.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8C,000,003F0,186,80,80,60,FF
2021-08-15T02:15:14.675Z,1628993714.675 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:15:15.073Z,1628993715.073 [Micromodem](INFO): Nmea in: $SNTTA,0.290153,,,,021515.16*49

2021-08-15T02:15:17.547Z,1628993717.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:15:17.905Z,1628993717.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:15:17.905Z,1628993717.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:15:17.905Z,1628993717.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:15:17.906Z,1628993717.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:15:18.295Z,1628993718.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8C,000,003F0,186,80,80,60,FF
2021-08-15T02:15:18.295Z,1628993718.295 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:15:18.295Z,1628993718.295 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:15:18.297Z,1628993718.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:15:18.717Z,1628993718.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:15:19.131Z,1628993719.131 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED2,000,003FC,186,80,80,51,FF
2021-08-15T02:15:19.133Z,1628993719.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:15:19.517Z,1628993719.517 [Micromodem](INFO): Nmea in: $SNTTA,0.015590,0.355635,,,021519.61*5C

2021-08-15T02:15:21.961Z,1628993721.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:15:22.341Z,1628993722.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:15:22.341Z,1628993722.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:15:22.341Z,1628993722.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:15:22.342Z,1628993722.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:15:22.737Z,1628993722.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED2,000,003FC,186,80,80,51,FF
2021-08-15T02:15:22.737Z,1628993722.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:15:22.737Z,1628993722.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:15:22.739Z,1628993722.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:15:23.171Z,1628993723.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:15:23.549Z,1628993723.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,00400,187,80,80,36,FF
2021-08-15T02:15:23.549Z,1628993723.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:15:23.553Z,1628993723.553 [Micromodem](INFO): Nmea in: $SNTTA,0.136715,0.136727,,,021524.05*5A

2021-08-15T02:15:26.356Z,1628993726.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:15:26.849Z,1628993726.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:15:26.849Z,1628993726.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:15:26.849Z,1628993726.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:15:26.850Z,1628993726.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:15:27.213Z,1628993727.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,00400,187,80,80,36,FF
2021-08-15T02:15:27.213Z,1628993727.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:15:27.213Z,1628993727.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:15:27.215Z,1628993727.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:15:27.593Z,1628993727.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:15:27.989Z,1628993727.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,00402,186,80,80,53,FF
2021-08-15T02:15:27.989Z,1628993727.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:15:28.422Z,1628993728.422 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021528.52*55

2021-08-15T02:15:30.896Z,1628993730.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:15:31.233Z,1628993731.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:15:31.233Z,1628993731.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:15:31.233Z,1628993731.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:15:31.234Z,1628993731.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:15:31.621Z,1628993731.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,00402,186,80,80,53,FF
2021-08-15T02:15:31.621Z,1628993731.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:15:31.622Z,1628993731.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:15:31.623Z,1628993731.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:15:32.154Z,1628993732.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:15:32.437Z,1628993732.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,00405,186,80,80,69,FF
2021-08-15T02:15:32.438Z,1628993732.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:15:32.869Z,1628993732.869 [Micromodem](INFO): Nmea in: $SNTTA,0.029133,,,,021532.93*47

2021-08-15T02:15:35.277Z,1628993735.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:15:35.677Z,1628993735.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:15:35.677Z,1628993735.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:15:35.677Z,1628993735.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:15:35.678Z,1628993735.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:15:36.053Z,1628993736.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,00405,186,80,80,69,FF
2021-08-15T02:15:36.053Z,1628993736.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:15:36.053Z,1628993736.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:15:36.055Z,1628993736.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:15:36.457Z,1628993736.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:15:36.953Z,1628993736.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,00400,187,80,80,5C,FF
2021-08-15T02:15:36.954Z,1628993736.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:15:37.309Z,1628993737.309 [Micromodem](INFO): Nmea in: $SNTTA,0.015773,,,,021537.36*40

2021-08-15T02:15:39.755Z,1628993739.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:15:40.113Z,1628993740.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:15:40.113Z,1628993740.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:15:40.113Z,1628993740.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:15:40.114Z,1628993740.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:15:40.518Z,1628993740.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,00400,187,80,80,5C,FF
2021-08-15T02:15:40.518Z,1628993740.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:15:40.518Z,1628993740.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:15:40.520Z,1628993740.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:15:40.941Z,1628993740.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:15:41.323Z,1628993741.323 [Micromodem](INFO): Nmea in: $SNTTA,0.204561,0.205911,,,021541.83*5C

2021-08-15T02:15:42.570Z,1628993742.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:15:43.821Z,1628993743.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,5C,FF
2021-08-15T02:15:43.821Z,1628993743.821 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,5C,FF
2021-08-15T02:15:43.822Z,1628993743.822 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:15:45.390Z,1628993745.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:15:45.769Z,1628993745.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:15:45.769Z,1628993745.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:15:45.769Z,1628993745.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:15:45.770Z,1628993745.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:15:46.144Z,1628993746.144 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,5C,FF
2021-08-15T02:15:46.144Z,1628993746.144 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:15:46.144Z,1628993746.144 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:15:46.147Z,1628993746.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:15:46.548Z,1628993746.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:15:47.061Z,1628993747.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,0040B,186,80,80,7A,FF
2021-08-15T02:15:47.061Z,1628993747.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:15:47.401Z,1628993747.401 [Micromodem](INFO): Nmea in: $SNTTA,0.071654,0.432963,,,021547.45*52

2021-08-15T02:15:49.829Z,1628993749.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:15:50.225Z,1628993750.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:15:50.225Z,1628993750.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:15:50.225Z,1628993750.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:15:50.226Z,1628993750.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:15:50.626Z,1628993750.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,0040B,186,80,80,7A,FF
2021-08-15T02:15:50.626Z,1628993750.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:15:50.626Z,1628993750.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:15:50.628Z,1628993750.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:15:51.033Z,1628993751.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:15:51.414Z,1628993751.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,0040C,184,80,80,9B,FF
2021-08-15T02:15:51.415Z,1628993751.415 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:15:51.855Z,1628993751.855 [Micromodem](INFO): Nmea in: $SNTTA,,0.189777,,,021551.94*48

2021-08-15T02:15:54.270Z,1628993754.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:15:54.662Z,1628993754.662 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:15:54.662Z,1628993754.662 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:15:54.663Z,1628993754.663 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:15:54.672Z,1628993754.672 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:15:55.077Z,1628993755.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,0040C,184,80,80,9B,FF
2021-08-15T02:15:55.077Z,1628993755.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:15:55.077Z,1628993755.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:15:55.079Z,1628993755.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:15:55.453Z,1628993755.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:15:55.894Z,1628993755.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,0040B,187,80,80,90,FF
2021-08-15T02:15:55.895Z,1628993755.895 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:15:56.266Z,1628993756.266 [Micromodem](INFO): Nmea in: $SNTTA,0.040405,,,,021556.39*4A

2021-08-15T02:15:58.759Z,1628993758.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:15:59.133Z,1628993759.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:15:59.133Z,1628993759.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:15:59.134Z,1628993759.134 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:15:59.135Z,1628993759.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:15:59.505Z,1628993759.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,0040B,187,80,80,90,FF
2021-08-15T02:15:59.505Z,1628993759.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:15:59.505Z,1628993759.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:15:59.507Z,1628993759.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:15:59.926Z,1628993759.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:16:00.309Z,1628993760.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,00408,186,80,80,AC,FF
2021-08-15T02:16:00.309Z,1628993760.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:16:00.754Z,1628993760.754 [Micromodem](INFO): Nmea in: $SNTTA,0.032915,,,,021600.81*40

2021-08-15T02:16:03.221Z,1628993763.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:16:03.541Z,1628993763.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:16:03.541Z,1628993763.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:16:03.541Z,1628993763.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:16:03.542Z,1628993763.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:16:03.945Z,1628993763.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,00408,186,80,80,AC,FF
2021-08-15T02:16:03.945Z,1628993763.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:16:03.945Z,1628993763.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:16:03.947Z,1628993763.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:16:04.353Z,1628993764.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:16:04.750Z,1628993764.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,00408,186,80,80,AC,FF
2021-08-15T02:16:04.750Z,1628993764.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:16:05.217Z,1628993765.217 [Micromodem](INFO): Nmea in: $SNTTA,0.488452,0.488277,,,021605.25*58

2021-08-15T02:16:07.320Z,1628993767.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:16:07.581Z,1628993767.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:16:07.581Z,1628993767.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:16:07.581Z,1628993767.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:16:07.582Z,1628993767.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:16:07.989Z,1628993767.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,00408,186,80,80,AC,FF
2021-08-15T02:16:07.989Z,1628993767.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:16:07.989Z,1628993767.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:16:07.991Z,1628993767.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:16:08.397Z,1628993768.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:16:08.805Z,1628993768.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,0040A,184,80,80,9F,FF
2021-08-15T02:16:08.805Z,1628993768.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:16:09.242Z,1628993769.242 [Micromodem](INFO): Nmea in: $SNTTA,0.042006,,,,021609.30*4F

2021-08-15T02:16:11.709Z,1628993771.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:16:12.041Z,1628993772.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:16:12.042Z,1628993772.042 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:16:12.042Z,1628993772.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:16:12.043Z,1628993772.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:16:12.445Z,1628993772.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,0040A,184,80,80,9F,FF
2021-08-15T02:16:12.445Z,1628993772.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:16:12.445Z,1628993772.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:16:12.447Z,1628993772.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:16:12.848Z,1628993772.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:16:13.261Z,1628993773.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00410,185,80,80,9A,FF
2021-08-15T02:16:13.261Z,1628993773.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:16:13.265Z,1628993773.265 [Micromodem](INFO): Nmea in: $SNTTA,0.041649,0.281203,,,021613.76*5C

2021-08-15T02:16:16.088Z,1628993776.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:16:16.439Z,1628993776.439 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:16:16.439Z,1628993776.439 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:16:16.439Z,1628993776.439 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:16:16.440Z,1628993776.440 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:16:16.845Z,1628993776.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00410,185,80,80,9A,FF
2021-08-15T02:16:16.845Z,1628993776.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:16:16.845Z,1628993776.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:16:16.847Z,1628993776.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:16:17.354Z,1628993777.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:16:17.725Z,1628993777.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,0040E,186,80,80,99,FF
2021-08-15T02:16:17.725Z,1628993777.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:16:18.106Z,1628993778.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021618.15*56

2021-08-15T02:16:20.524Z,1628993780.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:16:20.925Z,1628993780.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:16:20.925Z,1628993780.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:16:20.925Z,1628993780.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:16:20.926Z,1628993780.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:16:21.317Z,1628993781.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,0040E,186,80,80,99,FF
2021-08-15T02:16:21.317Z,1628993781.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:16:21.317Z,1628993781.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:16:21.319Z,1628993781.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:16:21.742Z,1628993781.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:16:22.130Z,1628993782.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,0040C,187,80,80,7A,FF
2021-08-15T02:16:22.130Z,1628993782.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:16:22.569Z,1628993782.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021622.63*5E

2021-08-15T02:16:25.005Z,1628993785.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:16:25.381Z,1628993785.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:16:25.381Z,1628993785.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:16:25.381Z,1628993785.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:16:25.382Z,1628993785.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:16:25.730Z,1628993785.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1A,000,0040C,187,80,80,7A,FF
2021-08-15T02:16:25.731Z,1628993785.731 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:16:25.731Z,1628993785.731 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:16:25.733Z,1628993785.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:16:26.173Z,1628993786.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:16:26.545Z,1628993786.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,00405,186,80,80,70,FF
2021-08-15T02:16:26.545Z,1628993786.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:16:26.965Z,1628993786.965 [Micromodem](INFO): Nmea in: $SNTTA,0.025661,,,,021627.04*42

2021-08-15T02:16:29.449Z,1628993789.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:16:29.801Z,1628993789.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:16:29.801Z,1628993789.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:16:29.802Z,1628993789.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:16:29.803Z,1628993789.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:16:30.217Z,1628993790.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,00405,186,80,80,70,FF
2021-08-15T02:16:30.217Z,1628993790.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:16:30.217Z,1628993790.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:16:30.219Z,1628993790.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:16:30.613Z,1628993790.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:16:31.022Z,1628993791.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,00404,186,80,80,67,FF
2021-08-15T02:16:31.022Z,1628993791.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:16:31.450Z,1628993791.450 [Micromodem](INFO): Nmea in: $SNTTA,0.292891,,,,021631.53*48

2021-08-15T02:16:33.878Z,1628993793.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:16:34.253Z,1628993794.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:16:34.253Z,1628993794.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:16:34.253Z,1628993794.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:16:34.254Z,1628993794.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:16:34.668Z,1628993794.668 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,00404,186,80,80,67,FF
2021-08-15T02:16:34.669Z,1628993794.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:16:34.669Z,1628993794.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:16:34.696Z,1628993794.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:16:35.056Z,1628993795.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:16:35.466Z,1628993795.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,00400,186,80,80,6B,FF
2021-08-15T02:16:35.466Z,1628993795.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:16:36.277Z,1628993796.277 [Micromodem](INFO): Nmea in: $SNTTA,0.060641,,,,021636.00*45

2021-08-15T02:16:38.035Z,1628993798.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:16:38.301Z,1628993798.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:16:38.301Z,1628993798.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:16:38.301Z,1628993798.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:16:38.302Z,1628993798.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:16:38.737Z,1628993798.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,00400,186,80,80,6B,FF
2021-08-15T02:16:38.737Z,1628993798.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:16:38.738Z,1628993798.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:16:38.739Z,1628993798.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:16:39.138Z,1628993799.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:16:39.497Z,1628993799.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,00406,187,80,80,63,FF
2021-08-15T02:16:39.497Z,1628993799.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:16:39.919Z,1628993799.919 [Micromodem](INFO): Nmea in: $SNTTA,0.032429,,,,021640.05*4A

2021-08-15T02:16:42.344Z,1628993802.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:16:42.729Z,1628993802.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:16:42.729Z,1628993802.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:16:42.729Z,1628993802.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:16:42.730Z,1628993802.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:16:43.171Z,1628993803.171 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,00406,187,80,80,63,FF
2021-08-15T02:16:43.171Z,1628993803.171 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:16:43.171Z,1628993803.171 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:16:43.173Z,1628993803.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:16:43.545Z,1628993803.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:16:43.945Z,1628993803.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7C,000,00404,18A,80,80,65,FF
2021-08-15T02:16:43.946Z,1628993803.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:16:44.367Z,1628993804.367 [Micromodem](INFO): Nmea in: $SNTTA,0.024019,,,,021644.48*47

2021-08-15T02:16:46.764Z,1628993806.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:16:47.173Z,1628993807.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:16:47.173Z,1628993807.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:16:47.174Z,1628993807.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:16:47.174Z,1628993807.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:16:47.653Z,1628993807.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7C,000,00404,18A,80,80,65,FF
2021-08-15T02:16:47.654Z,1628993807.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:16:47.654Z,1628993807.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:16:47.660Z,1628993807.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:16:48.004Z,1628993808.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:16:48.385Z,1628993808.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DB,000,003FC,186,80,80,9A,FF
2021-08-15T02:16:48.385Z,1628993808.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:16:49.217Z,1628993809.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021648.97*59

2021-08-15T02:16:51.357Z,1628993811.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:16:51.721Z,1628993811.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:16:51.721Z,1628993811.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:16:51.721Z,1628993811.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:16:51.722Z,1628993811.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:16:52.057Z,1628993812.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DB,000,003FC,186,80,80,9A,FF
2021-08-15T02:16:52.057Z,1628993812.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:16:52.057Z,1628993812.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:16:52.059Z,1628993812.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:16:52.453Z,1628993812.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:16:52.842Z,1628993812.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,003FA,183,80,80,96,FF
2021-08-15T02:16:52.842Z,1628993812.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:16:53.269Z,1628993813.269 [Micromodem](INFO): Nmea in: $SNTTA,0.475288,0.475300,,,021653.37*58

2021-08-15T02:16:55.707Z,1628993815.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:16:56.029Z,1628993816.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:16:56.029Z,1628993816.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:16:56.029Z,1628993816.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:16:56.030Z,1628993816.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:16:56.477Z,1628993816.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,003FA,183,80,80,96,FF
2021-08-15T02:16:56.477Z,1628993816.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:16:56.477Z,1628993816.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:16:56.479Z,1628993816.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:16:56.845Z,1628993816.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:16:57.246Z,1628993817.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE0,000,003F6,187,80,80,57,FF
2021-08-15T02:16:57.246Z,1628993817.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:16:57.249Z,1628993817.249 [Micromodem](INFO): Nmea in: $SNTTA,0.039933,0.263987,,,021657.79*55

2021-08-15T02:17:00.133Z,1628993820.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:17:00.513Z,1628993820.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:17:00.514Z,1628993820.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:17:00.514Z,1628993820.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:17:00.515Z,1628993820.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:17:00.990Z,1628993820.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE0,000,003F6,187,80,80,57,FF
2021-08-15T02:17:00.990Z,1628993820.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:17:00.990Z,1628993820.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:17:00.993Z,1628993820.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:17:01.341Z,1628993821.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:17:01.737Z,1628993821.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,003F3,186,80,80,A6,FF
2021-08-15T02:17:01.738Z,1628993821.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:17:02.175Z,1628993822.175 [Micromodem](INFO): Nmea in: $SNTTA,0.015048,,,,021702.30*4D

2021-08-15T02:17:04.689Z,1628993824.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:17:05.064Z,1628993825.064 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:17:05.064Z,1628993825.064 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:17:05.065Z,1628993825.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:17:05.065Z,1628993825.065 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:17:05.413Z,1628993825.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,003F3,186,80,80,A6,FF
2021-08-15T02:17:05.413Z,1628993825.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:17:05.413Z,1628993825.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:17:05.415Z,1628993825.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:17:05.801Z,1628993825.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:17:06.169Z,1628993826.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,003F1,18A,80,80,90,FF
2021-08-15T02:17:06.170Z,1628993826.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:17:06.599Z,1628993826.599 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021706.72*59

2021-08-15T02:17:09.050Z,1628993829.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:17:09.421Z,1628993829.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:17:09.421Z,1628993829.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:17:09.421Z,1628993829.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:17:09.422Z,1628993829.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:17:09.809Z,1628993829.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,003F1,18A,80,80,90,FF
2021-08-15T02:17:09.809Z,1628993829.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:17:09.810Z,1628993829.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:17:09.811Z,1628993829.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:17:10.220Z,1628993830.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:17:10.629Z,1628993830.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B15,000,003F4,189,80,80,27,FF
2021-08-15T02:17:10.630Z,1628993830.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:17:11.069Z,1628993831.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021711.12*59

2021-08-15T02:17:13.483Z,1628993833.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:17:13.861Z,1628993833.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:17:13.861Z,1628993833.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:17:13.862Z,1628993833.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:17:13.863Z,1628993833.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:17:14.261Z,1628993834.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B15,000,003F4,189,80,80,27,FF
2021-08-15T02:17:14.261Z,1628993834.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:17:14.261Z,1628993834.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:17:14.263Z,1628993834.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:17:14.684Z,1628993834.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:17:15.069Z,1628993835.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C5B,000,003EB,189,80,80,3C,FF
2021-08-15T02:17:15.070Z,1628993835.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:17:15.490Z,1628993835.490 [Micromodem](INFO): Nmea in: $SNTTA,0.025088,0.371966,,,021715.57*57

2021-08-15T02:17:18.070Z,1628993838.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:17:18.395Z,1628993838.395 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:17:18.395Z,1628993838.395 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:17:18.395Z,1628993838.395 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:17:18.395Z,1628993838.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:17:18.757Z,1628993838.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C5B,000,003EB,189,80,80,3C,FF
2021-08-15T02:17:18.757Z,1628993838.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:17:18.757Z,1628993838.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:17:18.759Z,1628993838.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:17:19.165Z,1628993839.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:17:19.514Z,1628993839.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E43,000,003F1,187,80,80,8F,FF
2021-08-15T02:17:19.515Z,1628993839.515 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:17:19.518Z,1628993839.518 [Micromodem](INFO): Nmea in: $SNTTA,0.124645,0.124708,,,021720.07*57

2021-08-15T02:17:22.347Z,1628993842.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:17:22.737Z,1628993842.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:17:22.737Z,1628993842.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:17:22.738Z,1628993842.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:17:22.739Z,1628993842.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:17:23.193Z,1628993843.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E43,000,003F1,187,80,80,8F,FF
2021-08-15T02:17:23.193Z,1628993843.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:17:23.193Z,1628993843.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:17:23.195Z,1628993843.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:17:23.557Z,1628993843.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:17:23.953Z,1628993843.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,003E4,187,80,80,C4,FF
2021-08-15T02:17:23.954Z,1628993843.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:17:24.371Z,1628993844.371 [Micromodem](INFO): Nmea in: $SNTTA,0.057048,,,,021724.50*49

2021-08-15T02:17:26.811Z,1628993846.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:17:27.175Z,1628993847.175 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:17:27.175Z,1628993847.175 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:17:27.175Z,1628993847.175 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:17:27.176Z,1628993847.176 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:17:27.567Z,1628993847.567 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF7,000,003E4,187,80,80,C4,FF
2021-08-15T02:17:27.567Z,1628993847.567 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:17:27.567Z,1628993847.567 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:17:27.569Z,1628993847.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:17:28.077Z,1628993848.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:17:28.405Z,1628993848.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,003E2,187,80,80,AC,FF
2021-08-15T02:17:28.406Z,1628993848.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:17:28.821Z,1628993848.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021728.88*50

2021-08-15T02:17:31.339Z,1628993851.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:17:31.661Z,1628993851.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:17:31.661Z,1628993851.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:17:31.662Z,1628993851.662 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:17:31.663Z,1628993851.663 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:17:32.113Z,1628993852.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,003E2,187,80,80,AC,FF
2021-08-15T02:17:32.113Z,1628993852.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:17:32.114Z,1628993852.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:17:32.115Z,1628993852.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:17:32.473Z,1628993852.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:17:32.857Z,1628993852.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFC,000,003DE,187,80,80,B7,FF
2021-08-15T02:17:32.857Z,1628993852.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:17:33.294Z,1628993853.294 [Micromodem](INFO): Nmea in: $SNTTA,0.446918,0.446918,,,021733.42*5C

2021-08-15T02:17:35.717Z,1628993855.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:17:36.077Z,1628993856.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:17:36.077Z,1628993856.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:17:36.077Z,1628993856.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:17:36.078Z,1628993856.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:17:36.447Z,1628993856.447 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFC,000,003DE,187,80,80,B7,FF
2021-08-15T02:17:36.447Z,1628993856.447 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:17:36.447Z,1628993856.447 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:17:36.449Z,1628993856.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:17:36.897Z,1628993856.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:17:37.257Z,1628993857.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,003DA,186,80,80,8F,FF
2021-08-15T02:17:37.258Z,1628993857.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:17:37.703Z,1628993857.703 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021737.76*5F

2021-08-15T02:17:40.210Z,1628993860.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:17:40.519Z,1628993860.519 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:17:40.524Z,1628993860.524 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:17:40.524Z,1628993860.524 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:17:40.525Z,1628993860.525 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:17:40.940Z,1628993860.940 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,003DA,186,80,80,8F,FF
2021-08-15T02:17:40.941Z,1628993860.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:17:40.941Z,1628993860.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:17:40.942Z,1628993860.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:17:41.333Z,1628993861.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:17:41.749Z,1628993861.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,003D8,186,80,80,B3,FF
2021-08-15T02:17:41.750Z,1628993861.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:17:41.753Z,1628993861.753 [Micromodem](INFO): Nmea in: $SNTTA,0.184100,0.127155,,,021742.25*52

2021-08-15T02:17:44.575Z,1628993864.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:17:45.053Z,1628993865.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:17:45.053Z,1628993865.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:17:45.053Z,1628993865.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:17:45.054Z,1628993865.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:17:45.405Z,1628993865.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,003D8,186,80,80,B3,FF
2021-08-15T02:17:45.405Z,1628993865.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:17:45.405Z,1628993865.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:17:45.407Z,1628993865.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:17:45.886Z,1628993865.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:17:46.257Z,1628993866.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,003D4,187,80,80,AB,FF
2021-08-15T02:17:46.258Z,1628993866.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:17:46.615Z,1628993866.615 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021746.71*5E

2021-08-15T02:17:49.087Z,1628993869.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:17:49.425Z,1628993869.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:17:49.425Z,1628993869.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:17:49.425Z,1628993869.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:17:49.426Z,1628993869.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:17:49.831Z,1628993869.831 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,003D4,187,80,80,AB,FF
2021-08-15T02:17:49.831Z,1628993869.831 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:17:49.831Z,1628993869.831 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:17:49.850Z,1628993869.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:17:50.253Z,1628993870.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:17:50.657Z,1628993870.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,003D2,186,80,80,AA,FF
2021-08-15T02:17:50.659Z,1628993870.659 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:17:53.516Z,1628993873.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:17:53.873Z,1628993873.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:17:53.873Z,1628993873.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:17:53.873Z,1628993873.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:17:53.874Z,1628993873.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:17:54.281Z,1628993874.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,003D2,186,80,80,AA,FF
2021-08-15T02:17:54.281Z,1628993874.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:17:54.282Z,1628993874.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:17:54.287Z,1628993874.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:17:54.709Z,1628993874.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:17:55.086Z,1628993875.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,003D5,186,80,80,8C,FF
2021-08-15T02:17:55.086Z,1628993875.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:17:55.499Z,1628993875.499 [Micromodem](INFO): Nmea in: $SNTTA,0.025151,,,,021755.62*42

2021-08-15T02:17:57.904Z,1628993877.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:17:58.385Z,1628993878.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:17:58.385Z,1628993878.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:17:58.385Z,1628993878.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:17:58.386Z,1628993878.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:17:58.786Z,1628993878.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,003D5,186,80,80,8C,FF
2021-08-15T02:17:58.786Z,1628993878.786 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:17:58.787Z,1628993878.787 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:17:58.789Z,1628993878.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:17:59.218Z,1628993879.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:17:59.569Z,1628993879.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E06,000,003C9,186,80,80,9D,FF
2021-08-15T02:17:59.569Z,1628993879.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:17:59.573Z,1628993879.573 [Micromodem](INFO): Nmea in: $SNTTA,0.027640,0.240509,,,021800.10*59

2021-08-15T02:18:02.363Z,1628993882.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:18:02.757Z,1628993882.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:18:02.757Z,1628993882.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:18:02.757Z,1628993882.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:18:02.758Z,1628993882.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:18:03.169Z,1628993883.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E06,000,003C9,186,80,80,9D,FF
2021-08-15T02:18:03.169Z,1628993883.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:18:03.169Z,1628993883.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:18:03.171Z,1628993883.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:18:03.569Z,1628993883.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:18:03.973Z,1628993883.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,003C6,188,80,80,80,FF
2021-08-15T02:18:03.974Z,1628993883.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:18:04.397Z,1628993884.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021804.48*5D

2021-08-15T02:18:06.832Z,1628993886.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:18:07.209Z,1628993887.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:18:07.209Z,1628993887.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:18:07.209Z,1628993887.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:18:07.210Z,1628993887.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:18:07.581Z,1628993887.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,003C6,188,80,80,80,FF
2021-08-15T02:18:07.581Z,1628993887.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:18:07.582Z,1628993887.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:18:07.583Z,1628993887.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:18:07.989Z,1628993887.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:18:08.490Z,1628993888.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,003C2,189,80,80,71,FF
2021-08-15T02:18:08.491Z,1628993888.491 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:18:08.498Z,1628993888.498 [Micromodem](INFO): Nmea in: $SNTTA,0.358078,0.356128,,,021808.89*56

2021-08-15T02:18:11.259Z,1628993891.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:18:11.737Z,1628993891.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:18:11.737Z,1628993891.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:18:11.737Z,1628993891.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:18:11.738Z,1628993891.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:18:12.061Z,1628993892.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,003C2,189,80,80,71,FF
2021-08-15T02:18:12.061Z,1628993892.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:18:12.061Z,1628993892.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:18:12.063Z,1628993892.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:18:12.536Z,1628993892.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:18:13.290Z,1628993893.290 [Micromodem](INFO): Nmea in: $SNTTA,,0.076432,,,021813.38*46

2021-08-15T02:18:13.763Z,1628993893.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:18:15.721Z,1628993895.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,71,FF
2021-08-15T02:18:15.721Z,1628993895.721 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,71,FF
2021-08-15T02:18:15.721Z,1628993895.721 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:18:16.563Z,1628993896.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:18:16.869Z,1628993896.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:18:16.869Z,1628993896.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:18:16.869Z,1628993896.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:18:16.870Z,1628993896.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:18:17.305Z,1628993897.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,71,FF
2021-08-15T02:18:17.306Z,1628993897.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:18:17.306Z,1628993897.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:18:17.307Z,1628993897.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:18:17.701Z,1628993897.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:18:18.097Z,1628993898.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,003BC,189,80,80,3F,FF
2021-08-15T02:18:18.097Z,1628993898.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:18:18.665Z,1628993898.665 [Micromodem](INFO): Nmea in: $SNTTA,0.062235,0.491057,,,021818.62*56

2021-08-15T02:18:20.962Z,1628993900.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:18:21.350Z,1628993901.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:18:21.350Z,1628993901.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:18:21.350Z,1628993901.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:18:21.351Z,1628993901.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:18:21.745Z,1628993901.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C9,000,003BC,189,80,80,3F,FF
2021-08-15T02:18:21.745Z,1628993901.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:18:21.745Z,1628993901.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:18:21.747Z,1628993901.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:18:22.168Z,1628993902.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:18:22.577Z,1628993902.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,003C0,186,80,80,65,FF
2021-08-15T02:18:22.577Z,1628993902.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:18:22.994Z,1628993902.994 [Micromodem](INFO): Nmea in: $SNTTA,0.065619,,,,021823.05*42

2021-08-15T02:18:25.351Z,1628993905.351 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-32 in onboard configuration file).
2021-08-15T02:18:25.423Z,1628993905.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:18:25.801Z,1628993905.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:18:25.801Z,1628993905.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:18:25.801Z,1628993905.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:18:25.802Z,1628993905.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:18:26.221Z,1628993906.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,003C0,186,80,80,65,FF
2021-08-15T02:18:26.221Z,1628993906.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:18:26.221Z,1628993906.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:18:26.223Z,1628993906.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:18:26.642Z,1628993906.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:18:26.969Z,1628993906.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,264,000,003B3,188,80,80,83,FF
2021-08-15T02:18:26.970Z,1628993906.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:18:29.853Z,1628993909.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:18:30.297Z,1628993910.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:18:30.297Z,1628993910.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:18:30.297Z,1628993910.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:18:30.298Z,1628993910.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:18:30.669Z,1628993910.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
264,000,003B3,188,80,80,83,FF
2021-08-15T02:18:30.669Z,1628993910.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:18:30.669Z,1628993910.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:18:30.677Z,1628993910.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:18:31.108Z,1628993911.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:18:31.501Z,1628993911.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003B0,189,80,80,8D,FF
2021-08-15T02:18:31.501Z,1628993911.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:18:31.921Z,1628993911.921 [Micromodem](INFO): Nmea in: $SNTTA,0.025479,,,,021831.99*44

2021-08-15T02:18:34.331Z,1628993914.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:18:34.733Z,1628993914.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:18:34.733Z,1628993914.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:18:34.733Z,1628993914.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:18:34.734Z,1628993914.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:18:35.134Z,1628993915.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003B0,189,80,80,8D,FF
2021-08-15T02:18:35.134Z,1628993915.134 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:18:35.134Z,1628993915.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:18:35.137Z,1628993915.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:18:35.549Z,1628993915.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:18:35.933Z,1628993915.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D27,000,003AC,188,80,80,9D,FF
2021-08-15T02:18:35.934Z,1628993915.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:18:36.377Z,1628993916.377 [Micromodem](INFO): Nmea in: $SNTTA,0.095819,,,,021836.45*43

2021-08-15T02:18:37.523Z,1628993917.523 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-15T02:18:37.526Z,1628993917.526 [BPC1](INFO): Received data from all battery sticks.
2021-08-15T02:18:38.899Z,1628993918.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:18:39.169Z,1628993919.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:18:39.169Z,1628993919.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:18:39.169Z,1628993919.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:18:39.170Z,1628993919.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:18:39.578Z,1628993919.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D27,000,003AC,188,80,80,9D,FF
2021-08-15T02:18:39.578Z,1628993919.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:18:39.579Z,1628993919.579 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:18:39.580Z,1628993919.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:18:39.992Z,1628993919.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:18:40.390Z,1628993920.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D88,000,003A8,189,80,80,A7,FF
2021-08-15T02:18:40.390Z,1628993920.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:18:40.793Z,1628993920.793 [Micromodem](INFO): Nmea in: $SNTTA,0.020856,0.391478,,,021840.89*59

2021-08-15T02:18:43.238Z,1628993923.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:18:43.614Z,1628993923.614 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:18:43.614Z,1628993923.614 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:18:43.614Z,1628993923.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:18:43.615Z,1628993923.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:18:44.021Z,1628993924.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D88,000,003A8,189,80,80,A7,FF
2021-08-15T02:18:44.021Z,1628993924.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:18:44.021Z,1628993924.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:18:44.023Z,1628993924.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:18:44.420Z,1628993924.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:18:44.826Z,1628993924.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDB,000,003A3,188,80,80,AF,FF
2021-08-15T02:18:44.826Z,1628993924.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:18:45.262Z,1628993925.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021845.33*54

2021-08-15T02:18:47.711Z,1628993927.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:18:48.041Z,1628993928.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:18:48.041Z,1628993928.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:18:48.041Z,1628993928.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:18:48.042Z,1628993928.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:18:48.425Z,1628993928.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDB,000,003A3,188,80,80,AF,FF
2021-08-15T02:18:48.426Z,1628993928.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:18:48.426Z,1628993928.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:18:48.428Z,1628993928.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:18:48.949Z,1628993928.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:18:49.273Z,1628993929.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE4,000,0039F,187,80,80,9F,FF
2021-08-15T02:18:49.273Z,1628993929.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:18:49.725Z,1628993929.725 [Micromodem](INFO): Nmea in: $SNTTA,0.026331,,,,021849.74*40

2021-08-15T02:18:52.111Z,1628993932.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:18:52.533Z,1628993932.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:18:52.533Z,1628993932.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:18:52.533Z,1628993932.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:18:52.534Z,1628993932.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:18:52.901Z,1628993932.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE4,000,0039F,187,80,80,9F,FF
2021-08-15T02:18:52.901Z,1628993932.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:18:52.901Z,1628993932.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:18:52.903Z,1628993932.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:18:53.317Z,1628993933.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:18:53.718Z,1628993933.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFC,000,0039B,186,80,80,A2,FF
2021-08-15T02:18:53.718Z,1628993933.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:18:54.158Z,1628993934.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021854.21*57

2021-08-15T02:18:56.627Z,1628993936.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:18:56.941Z,1628993936.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:18:56.941Z,1628993936.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:18:56.941Z,1628993936.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:18:56.942Z,1628993936.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:18:57.313Z,1628993937.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFC,000,0039B,186,80,80,A2,FF
2021-08-15T02:18:57.313Z,1628993937.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:18:57.313Z,1628993937.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:18:57.315Z,1628993937.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:18:57.753Z,1628993937.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:18:58.122Z,1628993938.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,00395,188,80,80,A7,FF
2021-08-15T02:18:58.122Z,1628993938.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:18:58.549Z,1628993938.549 [Micromodem](INFO): Nmea in: $SNTTA,0.052366,0.486663,,,021858.62*51

2021-08-15T02:19:01.009Z,1628993941.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:19:01.393Z,1628993941.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:19:01.393Z,1628993941.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:19:01.393Z,1628993941.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:19:01.394Z,1628993941.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:19:01.789Z,1628993941.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,00395,188,80,80,A7,FF
2021-08-15T02:19:01.789Z,1628993941.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:19:01.789Z,1628993941.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:19:01.791Z,1628993941.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:19:02.201Z,1628993942.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:19:02.614Z,1628993942.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEF,000,00391,187,80,80,AA,FF
2021-08-15T02:19:02.615Z,1628993942.615 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:19:02.621Z,1628993942.621 [Micromodem](INFO): Nmea in: $SNTTA,0.090808,0.289302,,,021903.10*5D

2021-08-15T02:19:05.454Z,1628993945.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:19:05.837Z,1628993945.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:19:05.837Z,1628993945.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:19:05.837Z,1628993945.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:19:05.838Z,1628993945.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:19:06.233Z,1628993946.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEF,000,00391,187,80,80,AA,FF
2021-08-15T02:19:06.233Z,1628993946.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:19:06.233Z,1628993946.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:19:06.235Z,1628993946.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:19:06.675Z,1628993946.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:19:07.041Z,1628993947.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE0,000,0038C,188,80,80,A8,FF
2021-08-15T02:19:07.041Z,1628993947.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:19:07.457Z,1628993947.457 [Micromodem](INFO): Nmea in: $SNTTA,0.020745,,,,021907.54*48

2021-08-15T02:19:09.903Z,1628993949.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:19:10.273Z,1628993950.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:19:10.273Z,1628993950.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:19:10.273Z,1628993950.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:19:10.274Z,1628993950.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:19:10.705Z,1628993950.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE0,000,0038C,188,80,80,A8,FF
2021-08-15T02:19:10.705Z,1628993950.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:19:10.706Z,1628993950.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:19:10.707Z,1628993950.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:19:11.101Z,1628993951.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:19:11.493Z,1628993951.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,00388,188,80,80,AA,FF
2021-08-15T02:19:11.493Z,1628993951.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:19:11.913Z,1628993951.913 [Micromodem](INFO): Nmea in: $SNTTA,0.068267,,,,021912.02*46

2021-08-15T02:19:12.789Z,1628993952.789 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-15T02:14:12.4Z
2021-08-15T02:19:12.789Z,1628993952.789 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-15T02:19:12.789Z,1628993952.789 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-15T02:19:12.790Z,1628993952.790 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-15T02:19:12.790Z,1628993952.790 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-15T02:19:13.118Z,1628993953.118 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 16.740000 m .
2021-08-15T02:19:13.118Z,1628993953.118 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-15T02:19:13.118Z,1628993953.118 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-15T02:19:13.118Z,1628993953.118 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-15T02:19:13.118Z,1628993953.118 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T02:19:13.894Z,1628993953.894 [PowerOnly](INFO): Powering up loadControl
2021-08-15T02:19:14.305Z,1628993954.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:19:14.793Z,1628993954.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:19:14.793Z,1628993954.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:19:14.793Z,1628993954.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:19:14.794Z,1628993954.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:19:15.134Z,1628993955.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,00388,188,80,80,AA,FF
2021-08-15T02:19:15.134Z,1628993955.134 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:19:15.134Z,1628993955.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:19:15.137Z,1628993955.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:19:15.525Z,1628993955.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:19:15.929Z,1628993955.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA1,000,00384,188,80,80,AE,FF
2021-08-15T02:19:15.930Z,1628993955.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:19:16.369Z,1628993956.369 [Micromodem](INFO): Nmea in: $SNTTA,0.010623,,,,021916.45*4A

2021-08-15T02:19:17.213Z,1628993957.213 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-15T02:19:17.579Z,1628993957.579 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-15T02:19:17.983Z,1628993957.983 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-15T02:19:18.385Z,1628993958.385 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm.
2021-08-15T02:19:18.390Z,1628993958.390 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-15T02:19:18.827Z,1628993958.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:19:19.158Z,1628993959.158 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:19:19.158Z,1628993959.158 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:19:19.158Z,1628993959.158 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:19:19.159Z,1628993959.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:19:19.573Z,1628993959.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA1,000,00384,188,80,80,AE,FF
2021-08-15T02:19:19.574Z,1628993959.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:19:19.574Z,1628993959.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:19:19.575Z,1628993959.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:19:19.973Z,1628993959.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:19:20.381Z,1628993960.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,0037D,188,80,80,8A,FF
2021-08-15T02:19:20.382Z,1628993960.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:19:20.791Z,1628993960.791 [Micromodem](INFO): Nmea in: $SNTTA,0.025644,0.394766,,,021920.89*5F

2021-08-15T02:19:23.224Z,1628993963.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:19:23.609Z,1628993963.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:19:23.609Z,1628993963.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:19:23.610Z,1628993963.610 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:19:23.610Z,1628993963.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:19:24.009Z,1628993964.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,0037D,188,80,80,8A,FF
2021-08-15T02:19:24.009Z,1628993964.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:19:24.009Z,1628993964.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:19:24.011Z,1628993964.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:19:24.441Z,1628993964.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:19:24.821Z,1628993964.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA4,000,0037A,188,80,80,C6,FF
2021-08-15T02:19:24.821Z,1628993964.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:19:25.274Z,1628993965.274 [Micromodem](INFO): Nmea in: $SNTTA,0.033598,,,,021925.32*48

2021-08-15T02:19:27.703Z,1628993967.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:19:28.049Z,1628993968.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:19:28.049Z,1628993968.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:19:28.049Z,1628993968.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:19:28.050Z,1628993968.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:19:28.473Z,1628993968.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA4,000,0037A,188,80,80,C6,FF
2021-08-15T02:19:28.474Z,1628993968.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:19:28.474Z,1628993968.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:19:28.513Z,1628993968.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:19:28.973Z,1628993968.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:19:29.371Z,1628993969.371 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBC,000,00376,188,80,80,AD,FF
2021-08-15T02:19:29.371Z,1628993969.371 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:19:29.789Z,1628993969.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021929.82*55

2021-08-15T02:19:32.215Z,1628993972.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:19:32.603Z,1628993972.603 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:19:32.603Z,1628993972.603 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:19:32.603Z,1628993972.603 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:19:32.608Z,1628993972.608 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:19:33.007Z,1628993973.007 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBC,000,00376,188,80,80,AD,FF
2021-08-15T02:19:33.007Z,1628993973.007 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:19:33.007Z,1628993973.007 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:19:33.009Z,1628993973.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:19:33.425Z,1628993973.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:19:33.821Z,1628993973.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D76,000,00372,188,80,80,C6,FF
2021-08-15T02:19:33.822Z,1628993973.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:19:34.246Z,1628993974.246 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021934.32*52

2021-08-15T02:19:36.726Z,1628993976.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:19:37.047Z,1628993977.047 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:19:37.047Z,1628993977.047 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:19:37.047Z,1628993977.047 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:19:37.064Z,1628993977.064 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:19:37.453Z,1628993977.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D76,000,00372,188,80,80,C6,FF
2021-08-15T02:19:37.453Z,1628993977.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:19:37.454Z,1628993977.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:19:37.455Z,1628993977.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:19:37.864Z,1628993977.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:19:38.270Z,1628993978.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D29,000,0036F,189,80,80,A0,FF
2021-08-15T02:19:38.270Z,1628993978.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:19:38.713Z,1628993978.713 [Micromodem](INFO): Nmea in: $SNTTA,,0.021117,,,021938.77*45

2021-08-15T02:19:38.785Z,1628993978.785 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 15.24 m. Transitioning DDM to standby.
2021-08-15T02:19:40.961Z,1628993980.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:19:41.138Z,1628993981.138 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:19:41.138Z,1628993981.138 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:19:41.138Z,1628993981.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:19:41.139Z,1628993981.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:19:41.189Z,1628993981.189 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-08-15T02:19:41.498Z,1628993981.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D29,000,0036F,189,80,80,A0,FF
2021-08-15T02:19:41.498Z,1628993981.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:19:41.498Z,1628993981.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:19:41.502Z,1628993981.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:19:41.609Z,1628993981.609 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-08-15T02:19:41.610Z,1628993981.610 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-15T02:19:41.610Z,1628993981.610 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-08-15T02:19:41.611Z,1628993981.611 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-15T02:19:41.611Z,1628993981.611 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-15T02:19:41.616Z,1628993981.616 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-08-15T02:19:41.616Z,1628993981.616 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-15T02:19:41.616Z,1628993981.616 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-15T02:19:41.617Z,1628993981.617 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-08-15T02:19:41.617Z,1628993981.617 [lineCaptureDepth:Lap] Stopped
2021-08-15T02:19:41.617Z,1628993981.617 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-15T02:19:41.617Z,1628993981.617 [lineCaptureDepth:Lap](INFO): Running loop #2
2021-08-15T02:19:41.617Z,1628993981.617 [lineCaptureDepth:Lap] Running Loop=2
2021-08-15T02:19:41.617Z,1628993981.617 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-15T02:19:41.617Z,1628993981.617 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-15T02:19:41.864Z,1628993981.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:19:41.919Z,1628993981.919 [lineCaptureDepth:Lap:A] Stopped
2021-08-15T02:19:41.919Z,1628993981.919 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-15T02:19:41.924Z,1628993981.924 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-15T02:19:42.311Z,1628993982.311 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD6,000,0036A,188,80,80,B2,FF
2021-08-15T02:19:42.311Z,1628993982.311 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:19:42.350Z,1628993982.350 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-15T02:19:42.350Z,1628993982.350 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-15T02:19:42.351Z,1628993982.351 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-15T02:19:42.351Z,1628993982.351 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-15T02:19:42.351Z,1628993982.351 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T02:19:42.351Z,1628993982.351 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-15T02:19:42.351Z,1628993982.351 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T02:19:42.351Z,1628993982.351 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-15T02:19:42.351Z,1628993982.351 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T02:19:42.351Z,1628993982.351 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-15T02:19:42.351Z,1628993982.351 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-15T02:19:42.352Z,1628993982.352 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-15T02:19:42.352Z,1628993982.352 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T02:19:42.352Z,1628993982.352 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T02:19:42.353Z,1628993982.353 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T02:19:42.353Z,1628993982.353 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T02:19:42.353Z,1628993982.353 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T02:19:42.353Z,1628993982.353 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T02:19:42.353Z,1628993982.353 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T02:19:42.353Z,1628993982.353 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-15T02:19:42.353Z,1628993982.353 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T02:19:42.354Z,1628993982.354 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T02:19:42.354Z,1628993982.354 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T02:19:42.354Z,1628993982.354 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T02:19:42.354Z,1628993982.354 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T02:19:42.354Z,1628993982.354 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T02:19:42.354Z,1628993982.354 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T02:19:42.356Z,1628993982.356 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-15T02:19:42.356Z,1628993982.356 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-15T02:19:42.717Z,1628993982.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021942.81*5B

2021-08-15T02:19:42.800Z,1628993982.800 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-15T02:19:42.800Z,1628993982.800 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-15T02:19:43.133Z,1628993983.133 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-15T02:19:43.134Z,1628993983.134 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-15T02:19:43.515Z,1628993983.515 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-15T02:19:43.516Z,1628993983.516 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-15T02:19:43.960Z,1628993983.960 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-15T02:19:43.960Z,1628993983.960 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-15T02:19:43.960Z,1628993983.960 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-15T02:19:43.961Z,1628993983.961 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-15T02:19:43.961Z,1628993983.961 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T02:19:43.961Z,1628993983.961 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-15T02:19:43.961Z,1628993983.961 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T02:19:43.961Z,1628993983.961 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-15T02:19:43.961Z,1628993983.961 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-15T02:19:43.961Z,1628993983.961 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T02:19:43.962Z,1628993983.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T02:19:43.962Z,1628993983.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T02:19:43.962Z,1628993983.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-15T02:19:43.962Z,1628993983.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T02:19:43.962Z,1628993983.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T02:19:43.962Z,1628993983.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-15T02:19:43.962Z,1628993983.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T02:19:43.962Z,1628993983.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-15T02:19:43.963Z,1628993983.963 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-15T02:19:43.963Z,1628993983.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T02:19:43.963Z,1628993983.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T02:19:43.963Z,1628993983.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-15T02:19:43.963Z,1628993983.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T02:19:43.963Z,1628993983.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T02:19:43.963Z,1628993983.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-15T02:19:43.963Z,1628993983.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T02:19:43.968Z,1628993983.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T02:19:43.969Z,1628993983.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-15T02:19:44.313Z,1628993984.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-15T02:19:44.314Z,1628993984.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T02:19:44.314Z,1628993984.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-15T02:19:44.314Z,1628993984.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T02:19:44.314Z,1628993984.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-15T02:19:44.314Z,1628993984.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-15T02:19:44.314Z,1628993984.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-15T02:19:44.314Z,1628993984.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-15T02:19:44.314Z,1628993984.314 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-15T02:19:44.314Z,1628993984.314 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T02:19:44.314Z,1628993984.314 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-15T02:19:44.314Z,1628993984.314 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T02:19:44.315Z,1628993984.315 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-15T02:19:44.315Z,1628993984.315 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-15T02:19:44.315Z,1628993984.315 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-15T02:19:44.315Z,1628993984.315 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-15T02:19:45.230Z,1628993985.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:19:45.542Z,1628993985.542 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:19:45.542Z,1628993985.542 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:19:45.542Z,1628993985.542 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:19:45.543Z,1628993985.543 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:19:45.935Z,1628993985.935 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD6,000,0036A,188,80,80,B2,FF
2021-08-15T02:19:45.935Z,1628993985.935 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:19:45.935Z,1628993985.935 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:19:45.937Z,1628993985.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:19:46.357Z,1628993986.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:19:46.743Z,1628993986.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C96,000,00367,189,80,80,AF,FF
2021-08-15T02:19:46.743Z,1628993986.743 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:19:47.208Z,1628993987.208 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-15T02:19:47.601Z,1628993987.601 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-15T02:19:48.021Z,1628993988.021 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-08-15T02:19:48.392Z,1628993988.392 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-15T02:19:49.676Z,1628993989.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:19:49.975Z,1628993989.975 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:19:49.975Z,1628993989.975 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:19:49.975Z,1628993989.975 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:19:49.976Z,1628993989.976 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:19:50.379Z,1628993990.379 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C96,000,00367,189,80,80,AF,FF
2021-08-15T02:19:50.379Z,1628993990.379 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:19:50.379Z,1628993990.379 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:19:50.381Z,1628993990.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:19:50.789Z,1628993990.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:19:51.197Z,1628993991.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B4C,000,00364,189,80,80,A6,FF
2021-08-15T02:19:51.198Z,1628993991.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:19:51.657Z,1628993991.657 [Micromodem](INFO): Nmea in: $SNTTA,0.012271,,,,021951.69*46

2021-08-15T02:19:54.050Z,1628993994.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:19:54.417Z,1628993994.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:19:54.417Z,1628993994.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:19:54.417Z,1628993994.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:19:54.418Z,1628993994.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:19:54.821Z,1628993994.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B4C,000,00364,189,80,80,A6,FF
2021-08-15T02:19:54.821Z,1628993994.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:19:54.821Z,1628993994.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:19:54.823Z,1628993994.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:19:55.241Z,1628993995.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:19:55.657Z,1628993995.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0035E,189,80,80,B8,FF
2021-08-15T02:19:55.659Z,1628993995.659 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:19:56.077Z,1628993996.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021956.13*55

2021-08-15T02:19:58.541Z,1628993998.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:19:58.861Z,1628993998.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:19:58.861Z,1628993998.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:19:58.861Z,1628993998.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:19:58.862Z,1628993998.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:19:59.265Z,1628993999.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0035E,189,80,80,B8,FF
2021-08-15T02:19:59.265Z,1628993999.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:19:59.265Z,1628993999.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:19:59.267Z,1628993999.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:19:59.701Z,1628993999.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:20:00.515Z,1628994000.515 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022000.58*53

2021-08-15T02:20:01.327Z,1628994001.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:20:02.901Z,1628994002.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,189,80,80,B8,FF
2021-08-15T02:20:02.901Z,1628994002.901 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,189,80,80,B8,FF
2021-08-15T02:20:02.901Z,1628994002.901 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:20:04.145Z,1628994004.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:20:04.557Z,1628994004.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:20:04.557Z,1628994004.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:20:04.557Z,1628994004.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:20:04.558Z,1628994004.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:20:04.921Z,1628994004.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,189,80,80,B8,FF
2021-08-15T02:20:04.921Z,1628994004.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:20:04.921Z,1628994004.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:20:04.923Z,1628994004.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:20:05.333Z,1628994005.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:20:05.741Z,1628994005.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00355,189,80,80,A8,FF
2021-08-15T02:20:05.742Z,1628994005.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:20:06.185Z,1628994006.185 [Micromodem](INFO): Nmea in: $SNTTA,0.042470,,,,022006.24*45

2021-08-15T02:20:08.617Z,1628994008.617 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 13.68 m. Transitioning DDM to standby.
2021-08-15T02:20:08.619Z,1628994008.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:20:08.965Z,1628994008.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:20:08.965Z,1628994008.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:20:08.965Z,1628994008.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:20:08.966Z,1628994008.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:20:09.369Z,1628994009.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00355,189,80,80,A8,FF
2021-08-15T02:20:09.369Z,1628994009.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:20:09.370Z,1628994009.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:20:09.372Z,1628994009.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:20:09.772Z,1628994009.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:20:10.186Z,1628994010.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B5C,000,00353,189,80,80,8D,FF
2021-08-15T02:20:10.186Z,1628994010.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:20:10.616Z,1628994010.616 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022010.68*51

2021-08-15T02:20:11.044Z,1628994011.044 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-15T02:20:11.430Z,1628994011.430 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-15T02:20:11.430Z,1628994011.430 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-15T02:20:11.430Z,1628994011.430 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-15T02:20:11.800Z,1628994011.800 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-15T02:20:11.800Z,1628994011.800 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-15T02:20:11.800Z,1628994011.800 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-15T02:20:12.230Z,1628994012.230 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-15T02:20:12.230Z,1628994012.230 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T02:20:12.230Z,1628994012.230 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-15T02:20:12.230Z,1628994012.230 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T02:20:12.230Z,1628994012.230 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T02:20:12.676Z,1628994012.676 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T02:20:12.676Z,1628994012.676 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T02:20:12.677Z,1628994012.677 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-15T02:20:12.677Z,1628994012.677 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T02:20:12.677Z,1628994012.677 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T02:20:12.677Z,1628994012.677 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-15T02:20:12.677Z,1628994012.677 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T02:20:12.677Z,1628994012.677 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-15T02:20:12.677Z,1628994012.677 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-15T02:20:12.678Z,1628994012.678 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-15T02:20:12.679Z,1628994012.679 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T02:20:12.679Z,1628994012.679 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-15T02:20:12.679Z,1628994012.679 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 13.559999 m 
2021-08-15T02:20:12.684Z,1628994012.684 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-15T02:20:12.684Z,1628994012.684 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-15T02:20:12.685Z,1628994012.685 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-15T02:20:12.685Z,1628994012.685 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-15T02:20:12.685Z,1628994012.685 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-15T02:20:12.685Z,1628994012.685 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-15T02:20:13.013Z,1628994013.013 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-15T02:20:13.013Z,1628994013.013 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T02:20:13.013Z,1628994013.013 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-15T02:20:13.013Z,1628994013.013 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T02:20:13.013Z,1628994013.013 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T02:20:13.013Z,1628994013.013 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T02:20:13.014Z,1628994013.014 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T02:20:13.014Z,1628994013.014 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T02:20:13.014Z,1628994013.014 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T02:20:13.014Z,1628994013.014 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T02:20:13.014Z,1628994013.014 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T02:20:13.025Z,1628994013.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:20:13.373Z,1628994013.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:20:13.373Z,1628994013.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:20:13.373Z,1628994013.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:20:13.374Z,1628994013.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:20:13.399Z,1628994013.399 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-15T02:20:13.399Z,1628994013.399 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T02:20:13.400Z,1628994013.400 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T02:20:13.400Z,1628994013.400 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:20:13.401Z,1628994013.401 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T02:20:13.401Z,1628994013.401 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T02:20:13.401Z,1628994013.401 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T02:20:13.401Z,1628994013.401 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T02:20:13.402Z,1628994013.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T02:20:13.402Z,1628994013.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T02:20:13.402Z,1628994013.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-15T02:20:13.402Z,1628994013.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T02:20:13.403Z,1628994013.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T02:20:13.403Z,1628994013.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-15T02:20:13.403Z,1628994013.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T02:20:13.403Z,1628994013.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T02:20:13.403Z,1628994013.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-15T02:20:13.425Z,1628994013.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-15T02:20:13.425Z,1628994013.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-15T02:20:13.425Z,1628994013.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-15T02:20:13.425Z,1628994013.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-15T02:20:13.425Z,1628994013.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-15T02:20:13.425Z,1628994013.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T02:20:13.426Z,1628994013.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 420.00 sec.
2021-08-15T02:20:13.426Z,1628994013.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T02:20:13.426Z,1628994013.426 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-15T02:20:13.427Z,1628994013.427 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T02:20:13.427Z,1628994013.427 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-15T02:20:13.427Z,1628994013.427 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T02:20:13.427Z,1628994013.427 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-15T02:20:13.427Z,1628994013.427 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-15T02:20:13.427Z,1628994013.427 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-15T02:20:13.427Z,1628994013.427 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-15T02:20:13.427Z,1628994013.427 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-15T02:20:13.781Z,1628994013.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B5C,000,00353,189,80,80,8D,FF
2021-08-15T02:20:13.781Z,1628994013.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:20:13.781Z,1628994013.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:20:13.783Z,1628994013.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:20:13.906Z,1628994013.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T02:20:13.906Z,1628994013.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:20:13.906Z,1628994013.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T02:20:13.906Z,1628994013.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:20:13.913Z,1628994013.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 305.655173 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T02:20:13.914Z,1628994013.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 13.56 m.
2021-08-15T02:20:13.915Z,1628994013.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 305.655173deg and heading rate command to 0 deg/s.
2021-08-15T02:20:14.185Z,1628994014.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:20:14.769Z,1628994014.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B04,000,0034F,18A,80,80,AB,FF
2021-08-15T02:20:14.770Z,1628994014.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:20:14.919Z,1628994014.919 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:20:15.317Z,1628994015.317 [Micromodem](INFO): Nmea in: $SNTTA,0.075385,,,,022015.09*41

2021-08-15T02:20:15.334Z,1628994015.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 309.535649 deg, deltaT: 4.714602 s, approachRate: -0.050906 m/s, LOS rate: 0.823076 deg/s, posRepo size: 2
2021-08-15T02:20:15.334Z,1628994015.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 13.32 m.
2021-08-15T02:20:15.336Z,1628994015.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.319998 m,
      bearing: 309.535649 deg,
      approachRate: -0.050906 m/s,
      LOS rate: 0.823076 deg/s,
      cmd update: 3.292304 deg/s,
      cmd heading: 305.655173 deg,
      new cmd heading: 305.655173 deg.

2021-08-15T02:20:17.766Z,1628994017.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:20:18.110Z,1628994018.110 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:20:18.110Z,1628994018.110 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:20:18.110Z,1628994018.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:20:18.111Z,1628994018.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:20:18.533Z,1628994018.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B04,000,0034F,18A,80,80,AB,FF
2021-08-15T02:20:18.534Z,1628994018.534 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:20:18.534Z,1628994018.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:20:18.535Z,1628994018.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:20:18.923Z,1628994018.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:20:19.317Z,1628994019.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B71,000,0034A,189,80,80,49,FF
2021-08-15T02:20:19.318Z,1628994019.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:20:19.339Z,1628994019.339 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:20:19.754Z,1628994019.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022019.84*5A

2021-08-15T02:20:19.801Z,1628994019.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.019999 m, bearing: 301.691231 deg, deltaT: 4.420085 s, approachRate: -0.067872 m/s, LOS rate: -1.774721 deg/s, posRepo size: 3
2021-08-15T02:20:19.801Z,1628994019.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 13.02 m.
2021-08-15T02:20:19.808Z,1628994019.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.019999 m,
      bearing: 301.691231 deg,
      approachRate: -0.067872 m/s,
      LOS rate: -1.774721 deg/s,
      cmd update: -7.098884 deg/s,
      cmd heading: 320.220677 deg,
      new cmd heading: 321.739255 deg.

2021-08-15T02:20:22.207Z,1628994022.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:20:22.569Z,1628994022.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:20:22.569Z,1628994022.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:20:22.569Z,1628994022.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:20:22.570Z,1628994022.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:20:23.057Z,1628994023.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B71,000,0034A,189,80,80,49,FF
2021-08-15T02:20:23.058Z,1628994023.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:20:23.058Z,1628994023.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:20:23.059Z,1628994023.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:20:23.473Z,1628994023.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:20:23.873Z,1628994023.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCD,000,0033E,188,80,80,BA,FF
2021-08-15T02:20:23.873Z,1628994023.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:20:23.947Z,1628994023.947 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:20:24.306Z,1628994024.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022024.37*5C

2021-08-15T02:20:24.333Z,1628994024.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.299998 m, bearing: 283.244502 deg, deltaT: 4.608134 s, approachRate: -0.156246 m/s, LOS rate: -4.003080 deg/s, posRepo size: 4
2021-08-15T02:20:24.333Z,1628994024.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.30 m.
2021-08-15T02:20:24.335Z,1628994024.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 283.244502 deg,
      approachRate: -0.156246 m/s,
      LOS rate: -4.003080 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 287.594667 deg,
      new cmd heading: 284.747858 deg.

2021-08-15T02:20:26.816Z,1628994026.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:20:27.106Z,1628994027.106 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:20:27.106Z,1628994027.106 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:20:27.106Z,1628994027.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:20:27.107Z,1628994027.107 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:20:27.506Z,1628994027.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCD,000,0033E,188,80,80,BA,FF
2021-08-15T02:20:27.506Z,1628994027.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:20:27.506Z,1628994027.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:20:27.508Z,1628994027.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:20:27.948Z,1628994027.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:20:28.313Z,1628994028.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D64,000,00333,189,80,80,98,FF
2021-08-15T02:20:28.313Z,1628994028.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:20:28.338Z,1628994028.338 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:20:28.757Z,1628994028.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022028.82*5E

2021-08-15T02:20:28.847Z,1628994028.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.640002 m, bearing: 284.292909 deg, deltaT: 4.391686 s, approachRate: -0.150283 m/s, LOS rate: 0.238725 deg/s, posRepo size: 4
2021-08-15T02:20:28.852Z,1628994028.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 11.64 m.
2021-08-15T02:20:28.852Z,1628994028.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 11.64 m.
2021-08-15T02:20:28.853Z,1628994028.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 11.64 m.
2021-08-15T02:20:28.853Z,1628994028.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T02:20:28.855Z,1628994028.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.640002 m,
      bearing: 284.292909 deg,
      approachRate: -0.150283 m/s,
      LOS rate: 0.238725 deg/s,
      cmd update: 0.954901 deg/s,
      cmd heading: 234.748525 deg,
      new cmd heading: 228.602653 deg.

2021-08-15T02:20:31.210Z,1628994031.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:20:31.553Z,1628994031.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:20:31.553Z,1628994031.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:20:31.553Z,1628994031.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:20:31.554Z,1628994031.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:20:31.958Z,1628994031.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D64,000,00333,189,80,80,98,FF
2021-08-15T02:20:31.959Z,1628994031.959 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:20:31.959Z,1628994031.959 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:20:31.961Z,1628994031.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:20:32.357Z,1628994032.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:20:32.774Z,1628994032.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C88,000,0032D,189,80,80,A2,FF
2021-08-15T02:20:32.774Z,1628994032.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:20:32.886Z,1628994032.886 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:20:33.201Z,1628994033.201 [Micromodem](INFO): Nmea in: $SNTTA,0.040440,,,,022033.27*41

2021-08-15T02:20:33.244Z,1628994033.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.280000 m, bearing: 311.135553 deg, deltaT: 4.547228 s, approachRate: -0.079170 m/s, LOS rate: 5.903079 deg/s, posRepo size: 4
2021-08-15T02:20:33.246Z,1628994033.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.280000 m,
      bearing: 311.135553 deg,
      approachRate: -0.079170 m/s,
      LOS rate: 5.903079 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 239.087010 deg,
      new cmd heading: 239.416411 deg.

2021-08-15T02:20:35.603Z,1628994035.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:20:35.989Z,1628994035.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:20:35.989Z,1628994035.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:20:35.989Z,1628994035.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:20:35.990Z,1628994035.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:20:36.393Z,1628994036.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C88,000,0032D,189,80,80,A2,FF
2021-08-15T02:20:36.393Z,1628994036.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:20:36.393Z,1628994036.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:20:36.395Z,1628994036.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:20:36.823Z,1628994036.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:20:37.209Z,1628994037.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFD,000,00324,189,80,80,A5,FF
2021-08-15T02:20:37.209Z,1628994037.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:20:37.251Z,1628994037.251 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:20:37.654Z,1628994037.654 [Micromodem](INFO): Nmea in: $SNTTA,0.040807,,,,022037.71*49

2021-08-15T02:20:37.717Z,1628994037.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 307.583362 deg, deltaT: 4.366034 s, approachRate: -0.123682 m/s, LOS rate: -0.813597 deg/s, posRepo size: 4
2021-08-15T02:20:37.719Z,1628994037.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.739998 m,
      bearing: 307.583362 deg,
      approachRate: -0.123682 m/s,
      LOS rate: -0.813597 deg/s,
      cmd update: -3.254386 deg/s,
      cmd heading: 291.524515 deg,
      new cmd heading: 297.093187 deg.

2021-08-15T02:20:40.090Z,1628994040.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:20:40.433Z,1628994040.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:20:40.434Z,1628994040.434 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:20:40.434Z,1628994040.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:20:40.435Z,1628994040.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:20:40.853Z,1628994040.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFD,000,00324,189,80,80,A5,FF
2021-08-15T02:20:40.853Z,1628994040.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:20:40.853Z,1628994040.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:20:40.855Z,1628994040.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:20:41.248Z,1628994041.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:20:41.645Z,1628994041.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,0032E,188,80,80,A4,FF
2021-08-15T02:20:41.646Z,1628994041.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:20:41.757Z,1628994041.757 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:20:42.073Z,1628994042.073 [Micromodem](INFO): Nmea in: $SNTTA,0.078098,,,,022042.17*4E

2021-08-15T02:20:42.105Z,1628994042.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.339997 m, bearing: 290.709052 deg, deltaT: 4.505723 s, approachRate: 0.133164 m/s, LOS rate: -3.745084 deg/s, posRepo size: 4
2021-08-15T02:20:42.107Z,1628994042.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 290.709052 deg,
      approachRate: 0.133164 m/s,
      LOS rate: -3.745084 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 276.873213 deg,
      new cmd heading: 275.720418 deg.

2021-08-15T02:20:44.554Z,1628994044.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:20:44.877Z,1628994044.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:20:44.877Z,1628994044.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:20:44.877Z,1628994044.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:20:44.878Z,1628994044.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:20:45.319Z,1628994045.319 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD0,000,0032E,188,80,80,A4,FF
2021-08-15T02:20:45.319Z,1628994045.319 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:20:45.319Z,1628994045.319 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:20:45.321Z,1628994045.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:20:45.325Z,1628994045.325 [PowerOnly](INFO): Powering down loadControl
2021-08-15T02:20:45.728Z,1628994045.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:20:46.122Z,1628994046.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,00341,187,80,80,61,FF
2021-08-15T02:20:46.126Z,1628994046.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:20:46.189Z,1628994046.189 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:20:46.595Z,1628994046.595 [Micromodem](INFO): Nmea in: $SNTTA,0.041237,,,,022046.63*44

2021-08-15T02:20:46.707Z,1628994046.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.479998 m, bearing: 298.562158 deg, deltaT: 4.431516 s, approachRate: 0.257248 m/s, LOS rate: 1.772104 deg/s, posRepo size: 4
2021-08-15T02:20:46.708Z,1628994046.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 12.48 m.
2021-08-15T02:20:46.710Z,1628994046.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.479998 m,
      bearing: 298.562158 deg,
      approachRate: 0.257248 m/s,
      LOS rate: 1.772104 deg/s,
      cmd update: 7.088415 deg/s,
      cmd heading: 223.708195 deg,
      new cmd heading: 217.392907 deg.

2021-08-15T02:20:48.994Z,1628994048.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:20:49.356Z,1628994049.356 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:20:49.356Z,1628994049.356 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:20:49.356Z,1628994049.356 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:20:49.357Z,1628994049.357 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:20:49.753Z,1628994049.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,00341,187,80,80,61,FF
2021-08-15T02:20:49.753Z,1628994049.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:20:49.753Z,1628994049.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:20:49.755Z,1628994049.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:20:50.165Z,1628994050.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:20:50.577Z,1628994050.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,00368,187,80,80,93,FF
2021-08-15T02:20:50.577Z,1628994050.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:20:50.581Z,1628994050.581 [Micromodem](INFO): Nmea in: $SNTTA,0.011865,0.270102,,,022051.07*50

2021-08-15T02:20:50.733Z,1628994050.733 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:20:50.996Z,1628994050.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.820001 m, bearing: 291.880402 deg, deltaT: 4.544389 s, approachRate: 0.514921 m/s, LOS rate: -1.470331 deg/s, posRepo size: 4
2021-08-15T02:20:50.998Z,1628994050.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.820001 m,
      bearing: 291.880402 deg,
      approachRate: 0.514921 m/s,
      LOS rate: -1.470331 deg/s,
      cmd update: -5.881323 deg/s,
      cmd heading: 255.928485 deg,
      new cmd heading: 257.837665 deg.

2021-08-15T02:20:53.407Z,1628994053.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:20:53.802Z,1628994053.802 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:20:53.802Z,1628994053.802 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:20:53.802Z,1628994053.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:20:53.803Z,1628994053.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:20:54.217Z,1628994054.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,00368,187,80,80,93,FF
2021-08-15T02:20:54.217Z,1628994054.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:20:54.217Z,1628994054.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:20:54.219Z,1628994054.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:20:54.611Z,1628994054.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:20:55.017Z,1628994055.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,00390,186,80,80,7A,FF
2021-08-15T02:20:55.018Z,1628994055.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:20:55.047Z,1628994055.047 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:20:55.433Z,1628994055.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022055.53*58

2021-08-15T02:20:55.456Z,1628994055.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 266.214218 deg, deltaT: 4.314328 s, approachRate: 0.556285 m/s, LOS rate: -5.949057 deg/s, posRepo size: 4
2021-08-15T02:20:55.458Z,1628994055.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 266.214218 deg,
      approachRate: 0.556285 m/s,
      LOS rate: -5.949057 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 230.532583 deg,
      new cmd heading: 228.114371 deg.

2021-08-15T02:20:57.886Z,1628994057.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:20:58.233Z,1628994058.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:20:58.233Z,1628994058.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:20:58.233Z,1628994058.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:20:58.234Z,1628994058.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:20:58.665Z,1628994058.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,00390,186,80,80,7A,FF
2021-08-15T02:20:58.666Z,1628994058.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:20:58.666Z,1628994058.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:20:58.669Z,1628994058.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:20:59.068Z,1628994059.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:20:59.465Z,1628994059.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,003B5,186,80,80,73,FF
2021-08-15T02:20:59.465Z,1628994059.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:20:59.531Z,1628994059.531 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:20:59.901Z,1628994059.901 [Micromodem](INFO): Nmea in: $SNTTA,0.035514,,,,022059.98*4B

2021-08-15T02:20:59.957Z,1628994059.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.440001 m, bearing: 240.826050 deg, deltaT: 4.483035 s, approachRate: 0.495201 m/s, LOS rate: -5.663165 deg/s, posRepo size: 4
2021-08-15T02:20:59.958Z,1628994059.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 19.44 m. Rolling out.
2021-08-15T02:20:59.958Z,1628994059.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T02:21:02.364Z,1628994062.364 [DDM](ERROR): Could not parse latch state
2021-08-15T02:21:02.393Z,1628994062.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:21:02.705Z,1628994062.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:21:02.705Z,1628994062.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:21:02.706Z,1628994062.706 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:21:02.707Z,1628994062.707 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:21:03.093Z,1628994063.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,003B5,186,80,80,73,FF
2021-08-15T02:21:03.093Z,1628994063.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:21:03.094Z,1628994063.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:21:03.095Z,1628994063.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:21:03.497Z,1628994063.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:21:03.917Z,1628994063.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,003E0,182,80,80,AD,FF
2021-08-15T02:21:03.918Z,1628994063.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:21:03.977Z,1628994063.977 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:21:04.345Z,1628994064.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022104.41*5E

2021-08-15T02:21:04.383Z,1628994064.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 233.938924 deg, deltaT: 4.446053 s, approachRate: 0.580290 m/s, LOS rate: -1.549043 deg/s, posRepo size: 4
2021-08-15T02:21:06.809Z,1628994066.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:21:07.142Z,1628994067.142 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:21:07.142Z,1628994067.142 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:21:07.142Z,1628994067.142 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:21:07.143Z,1628994067.143 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:21:07.537Z,1628994067.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,003E0,182,80,80,AD,FF
2021-08-15T02:21:07.537Z,1628994067.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:21:07.537Z,1628994067.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:21:07.539Z,1628994067.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:21:07.961Z,1628994067.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:21:08.354Z,1628994068.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,0040E,187,80,80,44,FF
2021-08-15T02:21:08.354Z,1628994068.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:21:08.394Z,1628994068.394 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:21:08.793Z,1628994068.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022108.85*5A

2021-08-15T02:21:08.876Z,1628994068.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.779999 m, bearing: 230.054978 deg, deltaT: 4.416935 s, approachRate: 0.624867 m/s, LOS rate: -0.879331 deg/s, posRepo size: 4
2021-08-15T02:21:11.219Z,1628994071.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:21:11.577Z,1628994071.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:21:11.577Z,1628994071.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:21:11.577Z,1628994071.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:21:11.578Z,1628994071.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:21:11.985Z,1628994071.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,0040E,187,80,80,44,FF
2021-08-15T02:21:11.985Z,1628994071.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:21:11.985Z,1628994071.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:21:11.987Z,1628994071.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:21:12.393Z,1628994072.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:21:12.804Z,1628994072.804 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,401,000,00436,188,80,80,6D,FF
2021-08-15T02:21:12.805Z,1628994072.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:21:12.875Z,1628994072.875 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:21:13.226Z,1628994073.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022113.30*5E

2021-08-15T02:21:13.247Z,1628994073.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.180000 m, bearing: 150.337381 deg, deltaT: 4.485987 s, approachRate: 0.535000 m/s, LOS rate: -17.770358 deg/s, posRepo size: 4
2021-08-15T02:21:15.700Z,1628994075.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:21:16.028Z,1628994076.028 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:21:16.028Z,1628994076.028 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:21:16.029Z,1628994076.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:21:16.030Z,1628994076.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:21:16.430Z,1628994076.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
401,000,00436,188,80,80,6D,FF
2021-08-15T02:21:16.430Z,1628994076.430 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:21:16.430Z,1628994076.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:21:16.431Z,1628994076.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:21:16.840Z,1628994076.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:21:17.233Z,1628994077.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B2,000,00457,189,80,80,6B,FF
2021-08-15T02:21:17.234Z,1628994077.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:21:17.280Z,1628994077.280 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:21:17.689Z,1628994077.689 [Micromodem](INFO): Nmea in: $SNTTA,0.055048,,,,022117.74*48

2021-08-15T02:21:17.731Z,1628994077.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.160002 m, bearing: 138.443741 deg, deltaT: 4.400560 s, approachRate: 0.449943 m/s, LOS rate: -2.702756 deg/s, posRepo size: 4
2021-08-15T02:21:20.083Z,1628994080.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:21:20.473Z,1628994080.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:21:20.474Z,1628994080.474 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:21:20.474Z,1628994080.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:21:20.475Z,1628994080.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:21:20.877Z,1628994080.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B2,000,00457,189,80,80,6B,FF
2021-08-15T02:21:20.877Z,1628994080.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:21:20.877Z,1628994080.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:21:20.879Z,1628994080.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:21:21.337Z,1628994081.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:21:22.140Z,1628994082.140 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022122.19*57

2021-08-15T02:21:22.634Z,1628994082.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:21:24.166Z,1628994084.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E457,189,80,80,6B,FF
2021-08-15T02:21:24.166Z,1628994084.166 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E457,189,80,80,6B,FF
2021-08-15T02:21:24.166Z,1628994084.166 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:21:25.387Z,1628994085.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:21:25.773Z,1628994085.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:21:25.773Z,1628994085.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:21:25.773Z,1628994085.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:21:25.774Z,1628994085.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:21:26.213Z,1628994086.213 [DUSBL_Hydroid](INFO): DUSBL response received:4
!U1,P
,80,63,E457,189,80,80,6B,FF
2021-08-15T02:21:26.213Z,1628994086.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:21:26.214Z,1628994086.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:21:26.215Z,1628994086.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:21:26.624Z,1628994086.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:21:26.998Z,1628994086.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A4,000,004A6,189,80,80,98,FF
2021-08-15T02:21:26.998Z,1628994086.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:21:27.023Z,1628994087.023 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:21:27.420Z,1628994087.420 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022127.53*5C

2021-08-15T02:21:27.440Z,1628994087.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.900002 m, bearing: 131.588498 deg, deltaT: 9.742754 s, approachRate: 0.486515 m/s, LOS rate: -0.703625 deg/s, posRepo size: 4
2021-08-15T02:21:29.852Z,1628994089.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:21:30.217Z,1628994090.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:21:30.217Z,1628994090.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:21:30.217Z,1628994090.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:21:30.218Z,1628994090.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:21:30.669Z,1628994090.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A4,000,004A6,189,80,80,98,FF
2021-08-15T02:21:30.669Z,1628994090.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:21:30.670Z,1628994090.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:21:30.671Z,1628994090.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:21:31.110Z,1628994091.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:21:31.502Z,1628994091.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33F,000,004CE,188,80,80,76,FF
2021-08-15T02:21:31.502Z,1628994091.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:21:31.528Z,1628994091.528 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:21:31.937Z,1628994091.937 [Micromodem](INFO): Nmea in: $SNTTA,0.071057,,,,022131.98*46

2021-08-15T02:21:31.980Z,1628994091.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.299995 m, bearing: 135.810566 deg, deltaT: 4.504828 s, approachRate: 0.532760 m/s, LOS rate: 0.937232 deg/s, posRepo size: 4
2021-08-15T02:21:34.354Z,1628994094.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:21:34.737Z,1628994094.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:21:34.737Z,1628994094.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:21:34.737Z,1628994094.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:21:34.738Z,1628994094.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:21:35.154Z,1628994095.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33F,000,004CE,188,80,80,76,FF
2021-08-15T02:21:35.154Z,1628994095.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:21:35.154Z,1628994095.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:21:35.157Z,1628994095.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:21:35.544Z,1628994095.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:21:35.943Z,1628994095.943 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38A,000,004F7,189,80,80,7C,FF
2021-08-15T02:21:35.943Z,1628994095.943 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:21:36.056Z,1628994096.056 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:21:36.393Z,1628994096.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022136.47*59

2021-08-15T02:21:36.428Z,1628994096.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.760002 m, bearing: 133.917224 deg, deltaT: 4.528281 s, approachRate: 0.543254 m/s, LOS rate: -0.418115 deg/s, posRepo size: 4
2021-08-15T02:21:38.859Z,1628994098.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:21:39.187Z,1628994099.187 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:21:39.187Z,1628994099.187 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:21:39.187Z,1628994099.187 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:21:39.188Z,1628994099.188 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:21:39.585Z,1628994099.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38A,000,004F7,189,80,80,7C,FF
2021-08-15T02:21:39.585Z,1628994099.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:21:39.585Z,1628994099.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:21:39.587Z,1628994099.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:21:39.994Z,1628994099.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:21:40.399Z,1628994100.399 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,0051B,186,80,80,71,FF
2021-08-15T02:21:40.400Z,1628994100.400 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:21:40.443Z,1628994100.443 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:21:40.829Z,1628994100.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022140.90*52

2021-08-15T02:21:40.887Z,1628994100.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.920002 m, bearing: 187.346133 deg, deltaT: 4.386906 s, approachRate: 0.492374 m/s, LOS rate: 12.179178 deg/s, posRepo size: 4
2021-08-15T02:21:41.249Z,1628994101.249 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T02:21:41.250Z,1628994101.250 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T02:21:41.250Z,1628994101.250 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T02:21:41.251Z,1628994101.251 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T02:21:41.251Z,1628994101.251 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T02:21:41.251Z,1628994101.251 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T02:21:41.684Z,1628994101.684 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T02:21:41.684Z,1628994101.684 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T02:21:41.685Z,1628994101.685 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T02:21:41.685Z,1628994101.685 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T02:21:43.265Z,1628994103.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:21:43.634Z,1628994103.634 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:21:43.634Z,1628994103.634 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:21:43.635Z,1628994103.635 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:21:43.637Z,1628994103.637 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:21:44.037Z,1628994104.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,0051B,186,80,80,71,FF
2021-08-15T02:21:44.037Z,1628994104.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:21:44.037Z,1628994104.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:21:44.038Z,1628994104.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:21:44.438Z,1628994104.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:21:44.837Z,1628994104.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,00546,186,80,80,96,FF
2021-08-15T02:21:44.837Z,1628994104.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:21:45.285Z,1628994105.285 [Micromodem](INFO): Nmea in: $SNTTA,0.047456,,,,022145.35*42

2021-08-15T02:21:45.324Z,1628994105.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.500000 m, bearing: 194.002043 deg, deltaT: 4.491482 s, approachRate: 0.574420 m/s, LOS rate: 1.481896 deg/s, posRepo size: 4
2021-08-15T02:21:47.729Z,1628994107.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:21:48.069Z,1628994108.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:21:48.069Z,1628994108.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:21:48.069Z,1628994108.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:21:48.070Z,1628994108.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:21:48.479Z,1628994108.479 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,00546,186,80,80,96,FF
2021-08-15T02:21:48.480Z,1628994108.480 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:21:48.480Z,1628994108.480 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:21:48.482Z,1628994108.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:21:48.883Z,1628994108.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:21:49.281Z,1628994109.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,0057A,187,80,80,19,FF
2021-08-15T02:21:49.281Z,1628994109.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:21:49.737Z,1628994109.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022149.80*5A

2021-08-15T02:21:49.788Z,1628994109.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.619999 m, bearing: 181.558231 deg, deltaT: 4.404984 s, approachRate: 0.708288 m/s, LOS rate: -2.824939 deg/s, posRepo size: 4
2021-08-15T02:21:52.159Z,1628994112.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:21:52.534Z,1628994112.534 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:21:52.534Z,1628994112.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:21:52.534Z,1628994112.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:21:52.535Z,1628994112.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:21:52.929Z,1628994112.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,0057A,187,80,80,19,FF
2021-08-15T02:21:52.929Z,1628994112.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:21:52.929Z,1628994112.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:21:52.931Z,1628994112.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:21:53.328Z,1628994113.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:21:53.729Z,1628994113.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,436,000,0059E,18A,80,80,3F,FF
2021-08-15T02:21:53.730Z,1628994113.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:21:54.193Z,1628994114.193 [Micromodem](INFO): Nmea in: $SNTTA,0.044503,,,,022154.24*40

2021-08-15T02:21:54.237Z,1628994114.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.779995 m, bearing: 121.252264 deg, deltaT: 4.453767 s, approachRate: 0.484982 m/s, LOS rate: -13.540440 deg/s, posRepo size: 4
2021-08-15T02:21:56.681Z,1628994116.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:21:56.957Z,1628994116.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:21:56.957Z,1628994116.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:21:56.957Z,1628994116.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:21:56.958Z,1628994116.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:21:57.366Z,1628994117.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
436,000,0059E,18A,80,80,3F,FF
2021-08-15T02:21:57.366Z,1628994117.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:21:57.366Z,1628994117.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:21:57.368Z,1628994117.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:21:57.764Z,1628994117.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:21:58.181Z,1628994118.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,473,000,005C8,189,80,80,4C,FF
2021-08-15T02:21:58.182Z,1628994118.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:21:58.645Z,1628994118.645 [Micromodem](INFO): Nmea in: $SNTTA,0.053486,,,,022158.68*4E

2021-08-15T02:21:58.744Z,1628994118.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.299995 m, bearing: 120.323181 deg, deltaT: 4.438361 s, approachRate: 0.567777 m/s, LOS rate: -0.209330 deg/s, posRepo size: 4
2021-08-15T02:22:00.738Z,1628994120.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:01.009Z,1628994121.010 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:22:01.010Z,1628994121.010 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:22:01.010Z,1628994121.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:22:01.011Z,1628994121.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:22:01.044Z,1628994121.044 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
473,000,005C8,189,80,80,4C,FF
2021-08-15T02:22:01.044Z,1628994121.044 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:22:01.045Z,1628994121.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:22:01.046Z,1628994121.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:22:01.430Z,1628994121.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:22:01.809Z,1628994121.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,42A,000,005EF,189,80,80,62,FF
2021-08-15T02:22:01.809Z,1628994121.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:22:02.239Z,1628994122.239 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022202.36*5B

2021-08-15T02:22:02.280Z,1628994122.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.639999 m, bearing: 123.863076 deg, deltaT: 3.644712 s, approachRate: 0.642027 m/s, LOS rate: 0.971242 deg/s, posRepo size: 4
2021-08-15T02:22:04.764Z,1628994124.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:05.069Z,1628994125.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:22:05.070Z,1628994125.070 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:22:05.070Z,1628994125.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:22:05.071Z,1628994125.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:22:05.492Z,1628994125.492 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
42A,000,005EF,189,80,80,62,FF
2021-08-15T02:22:05.492Z,1628994125.492 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:22:05.492Z,1628994125.492 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:22:05.494Z,1628994125.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:22:05.885Z,1628994125.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:22:06.719Z,1628994126.719 [Micromodem](INFO): Nmea in: $SNTTA,0.441129,0.440835,,,022206.81*56

2021-08-15T02:22:07.507Z,1628994127.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:09.101Z,1628994129.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,62,FF
2021-08-15T02:22:09.101Z,1628994129.101 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,62,FF
2021-08-15T02:22:09.102Z,1628994129.102 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:22:10.369Z,1628994130.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:10.717Z,1628994130.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:22:10.717Z,1628994130.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:22:10.717Z,1628994130.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:22:10.718Z,1628994130.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:22:11.257Z,1628994131.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,62,FF
2021-08-15T02:22:11.257Z,1628994131.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:22:11.257Z,1628994131.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:22:11.259Z,1628994131.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:22:11.708Z,1628994131.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:22:12.482Z,1628994132.482 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022212.57*5D

2021-08-15T02:22:12.894Z,1628994132.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:14.889Z,1628994134.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,62,FF
2021-08-15T02:22:14.890Z,1628994134.890 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,62,FF
2021-08-15T02:22:14.890Z,1628994134.890 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:22:15.774Z,1628994135.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:16.102Z,1628994136.102 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:22:16.102Z,1628994136.102 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:22:16.103Z,1628994136.103 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:22:16.104Z,1628994136.104 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:22:16.501Z,1628994136.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,62,FF
2021-08-15T02:22:16.502Z,1628994136.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:22:16.502Z,1628994136.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:22:16.508Z,1628994136.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:22:16.911Z,1628994136.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:22:17.742Z,1628994137.742 [Micromodem](INFO): Nmea in: $SNTTA,0.069872,,,,022217.82*4C

2021-08-15T02:22:18.526Z,1628994138.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,0486F,189,80,80,62,FF
2021-08-15T02:22:18.526Z,1628994138.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:22:18.995Z,1628994138.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1075.080078 m, bearing: 197.546010 deg, deltaT: 16.701876 s, approachRate: 61.157204 m/s, LOS rate: 4.411656 deg/s, posRepo size: 4
2021-08-15T02:22:21.367Z,1628994141.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:21.761Z,1628994141.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:22:21.761Z,1628994141.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:22:21.761Z,1628994141.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:22:21.762Z,1628994141.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:22:22.162Z,1628994142.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,0486F,189,80,80,62,FF
2021-08-15T02:22:22.162Z,1628994142.162 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:22:22.162Z,1628994142.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:22:22.164Z,1628994142.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:22:22.613Z,1628994142.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:22:23.398Z,1628994143.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022223.48*51

2021-08-15T02:22:24.211Z,1628994144.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:25.797Z,1628994145.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,62,FF
2021-08-15T02:22:25.798Z,1628994145.798 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,62,FF
2021-08-15T02:22:25.798Z,1628994145.798 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:22:26.734Z,1628994146.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:27.013Z,1628994147.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:22:27.013Z,1628994147.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:22:27.013Z,1628994147.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:22:27.014Z,1628994147.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:22:27.426Z,1628994147.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,62,FF
2021-08-15T02:22:27.426Z,1628994147.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:22:27.427Z,1628994147.427 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:22:27.429Z,1628994147.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:22:27.817Z,1628994147.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:22:28.687Z,1628994148.687 [Micromodem](INFO): Nmea in: $SNTTA,0.076513,,,,022228.74*4D

2021-08-15T02:22:29.447Z,1628994149.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:31.045Z,1628994151.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,62,FF
2021-08-15T02:22:31.046Z,1628994151.046 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,62,FF
2021-08-15T02:22:31.046Z,1628994151.046 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:22:32.321Z,1628994152.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:32.668Z,1628994152.668 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:22:32.669Z,1628994152.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:22:32.670Z,1628994152.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:22:32.671Z,1628994152.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:22:33.057Z,1628994153.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,62,FF
2021-08-15T02:22:33.057Z,1628994153.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:22:33.057Z,1628994153.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:22:33.059Z,1628994153.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:22:33.484Z,1628994153.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:22:33.894Z,1628994153.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,0072A,186,80,80,7C,FF
2021-08-15T02:22:33.895Z,1628994153.895 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:22:33.901Z,1628994153.901 [Micromodem](INFO): Nmea in: $SNTTA,0.070299,0.298790,,,022234.37*57

2021-08-15T02:22:34.323Z,1628994154.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.540009 m, bearing: 188.448785 deg, deltaT: 15.416057 s, approachRate: -65.032196 m/s, LOS rate: -0.590114 deg/s, posRepo size: 4
2021-08-15T02:22:36.746Z,1628994156.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:37.097Z,1628994157.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:22:37.098Z,1628994157.098 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:22:37.098Z,1628994157.098 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:22:37.099Z,1628994157.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:22:37.517Z,1628994157.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,0072A,186,80,80,7C,FF
2021-08-15T02:22:37.517Z,1628994157.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:22:37.517Z,1628994157.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:22:37.519Z,1628994157.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:22:37.924Z,1628994157.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:22:38.330Z,1628994158.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,00C2B,186,80,80,5B,FF
2021-08-15T02:22:38.330Z,1628994158.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:22:38.334Z,1628994158.334 [Micromodem](INFO): Nmea in: $SNTTA,0.123680,0.128368,,,022238.83*54

2021-08-15T02:22:38.781Z,1628994158.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.400009 m, bearing: 191.284051 deg, deltaT: 4.386794 s, approachRate: 17.520767 m/s, LOS rate: 0.646318 deg/s, posRepo size: 4
2021-08-15T02:22:41.222Z,1628994161.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:41.549Z,1628994161.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:22:41.550Z,1628994161.550 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:22:41.550Z,1628994161.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:22:41.551Z,1628994161.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:22:41.958Z,1628994161.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,00C2B,186,80,80,5B,FF
2021-08-15T02:22:41.958Z,1628994161.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:22:41.958Z,1628994161.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:22:41.960Z,1628994161.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:22:42.377Z,1628994162.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:22:42.773Z,1628994162.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,0077E,186,80,80,33,FF
2021-08-15T02:22:42.774Z,1628994162.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:22:43.214Z,1628994163.214 [Micromodem](INFO): Nmea in: $SNTTA,0.086181,,,,022243.32*42

2021-08-15T02:22:43.248Z,1628994163.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.580002 m, bearing: 195.349380 deg, deltaT: 4.498392 s, approachRate: -15.965707 m/s, LOS rate: 0.903729 deg/s, posRepo size: 4
2021-08-15T02:22:45.673Z,1628994165.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:46.013Z,1628994166.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:22:46.013Z,1628994166.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:22:46.013Z,1628994166.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:22:46.014Z,1628994166.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:22:46.421Z,1628994166.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,0077E,186,80,80,33,FF
2021-08-15T02:22:46.421Z,1628994166.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:22:46.421Z,1628994166.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:22:46.423Z,1628994166.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:22:46.816Z,1628994166.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:22:47.217Z,1628994167.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,007B1,187,80,80,6F,FF
2021-08-15T02:22:47.218Z,1628994167.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:22:47.673Z,1628994167.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022247.74*5C

2021-08-15T02:22:47.727Z,1628994167.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.639999 m, bearing: 192.085055 deg, deltaT: 4.357758 s, approachRate: 0.702195 m/s, LOS rate: -0.749084 deg/s, posRepo size: 4
2021-08-15T02:22:50.087Z,1628994170.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:50.449Z,1628994170.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:22:50.449Z,1628994170.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:22:50.449Z,1628994170.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:22:50.450Z,1628994170.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:22:50.897Z,1628994170.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,007B1,187,80,80,6F,FF
2021-08-15T02:22:50.897Z,1628994170.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:22:50.897Z,1628994170.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:22:50.899Z,1628994170.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:22:51.283Z,1628994171.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:22:51.689Z,1628994171.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,007E2,186,80,80,64,FF
2021-08-15T02:22:51.689Z,1628994171.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:22:52.077Z,1628994172.077 [Micromodem](INFO): Nmea in: $SNTTA,0.065170,0.341977,,,022252.21*52

2021-08-15T02:22:52.149Z,1628994172.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.580002 m, bearing: 191.440667 deg, deltaT: 4.482405 s, approachRate: 0.655898 m/s, LOS rate: -0.143759 deg/s, posRepo size: 4
2021-08-15T02:22:54.518Z,1628994174.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:54.893Z,1628994174.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:22:54.893Z,1628994174.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:22:54.893Z,1628994174.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:22:54.894Z,1628994174.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:22:55.297Z,1628994175.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,007E2,186,80,80,64,FF
2021-08-15T02:22:55.297Z,1628994175.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:22:55.297Z,1628994175.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:22:55.299Z,1628994175.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:22:55.725Z,1628994175.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:22:56.109Z,1628994176.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,0080C,185,80,80,8B,FF
2021-08-15T02:22:56.109Z,1628994176.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:22:56.541Z,1628994176.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022256.61*58

2021-08-15T02:22:56.582Z,1628994176.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.100006 m, bearing: 194.473381 deg, deltaT: 4.490207 s, approachRate: 0.561222 m/s, LOS rate: 0.675406 deg/s, posRepo size: 4
2021-08-15T02:22:58.992Z,1628994178.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:22:59.345Z,1628994179.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:22:59.345Z,1628994179.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:22:59.346Z,1628994179.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:22:59.347Z,1628994179.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:22:59.765Z,1628994179.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,0080C,185,80,80,8B,FF
2021-08-15T02:22:59.765Z,1628994179.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:22:59.766Z,1628994179.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:22:59.771Z,1628994179.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:23:00.155Z,1628994180.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:23:00.553Z,1628994180.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,0083C,186,80,80,57,FF
2021-08-15T02:23:00.554Z,1628994180.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:23:00.976Z,1628994180.976 [Micromodem](INFO): Nmea in: $SNTTA,0.194858,,,,022301.09*42

2021-08-15T02:23:01.003Z,1628994181.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.980003 m, bearing: 196.088748 deg, deltaT: 4.363508 s, approachRate: 0.660019 m/s, LOS rate: 0.370199 deg/s, posRepo size: 4
2021-08-15T02:23:03.427Z,1628994183.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:23:03.812Z,1628994183.812 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:23:03.813Z,1628994183.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:23:03.814Z,1628994183.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:23:03.815Z,1628994183.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:23:04.193Z,1628994184.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,0083C,186,80,80,57,FF
2021-08-15T02:23:04.193Z,1628994184.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:23:04.193Z,1628994184.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:23:04.195Z,1628994184.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:23:04.593Z,1628994184.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:23:04.994Z,1628994184.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F5,000,00866,189,80,80,67,FF
2021-08-15T02:23:04.994Z,1628994184.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:23:05.441Z,1628994185.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022305.51*5C

2021-08-15T02:23:05.476Z,1628994185.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.500008 m, bearing: 139.887028 deg, deltaT: 4.470865 s, approachRate: 0.563650 m/s, LOS rate: -12.570659 deg/s, posRepo size: 4
2021-08-15T02:23:07.934Z,1628994187.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:23:08.225Z,1628994188.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:23:08.225Z,1628994188.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:23:08.225Z,1628994188.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:23:08.226Z,1628994188.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:23:08.642Z,1628994188.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F5,000,00866,189,80,80,67,FF
2021-08-15T02:23:08.642Z,1628994188.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:23:08.643Z,1628994188.643 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:23:08.656Z,1628994188.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:23:09.037Z,1628994189.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:23:09.442Z,1628994189.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,355,000,00896,188,80,80,5C,FF
2021-08-15T02:23:09.442Z,1628994189.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:23:09.894Z,1628994189.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022309.97*5A

2021-08-15T02:23:09.964Z,1628994189.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.380005 m, bearing: 135.227213 deg, deltaT: 4.446352 s, approachRate: 0.647721 m/s, LOS rate: -1.048008 deg/s, posRepo size: 4
2021-08-15T02:23:12.288Z,1628994192.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:23:12.681Z,1628994192.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:23:12.682Z,1628994192.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:23:12.682Z,1628994192.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:23:12.683Z,1628994192.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:23:13.086Z,1628994193.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
355,000,00896,188,80,80,5C,FF
2021-08-15T02:23:13.086Z,1628994193.086 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:23:13.086Z,1628994193.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:23:13.105Z,1628994193.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:23:13.485Z,1628994193.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:23:13.905Z,1628994193.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,008C1,186,80,80,6F,FF
2021-08-15T02:23:13.905Z,1628994193.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:23:14.313Z,1628994194.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022314.42*5E

2021-08-15T02:23:14.329Z,1628994194.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.959999 m, bearing: 198.428265 deg, deltaT: 4.496495 s, approachRate: 0.573779 m/s, LOS rate: 14.055626 deg/s, posRepo size: 4
2021-08-15T02:23:16.770Z,1628994196.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:23:17.128Z,1628994197.128 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:23:17.129Z,1628994197.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:23:17.129Z,1628994197.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:23:17.130Z,1628994197.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:23:17.525Z,1628994197.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,008C1,186,80,80,6F,FF
2021-08-15T02:23:17.525Z,1628994197.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:23:17.525Z,1628994197.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:23:17.527Z,1628994197.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:23:17.929Z,1628994197.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:23:18.325Z,1628994198.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,007E6,186,80,80,78,FF
2021-08-15T02:23:18.325Z,1628994198.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:23:18.785Z,1628994198.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022318.84*58

2021-08-15T02:23:18.811Z,1628994198.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.820007 m, bearing: 193.753288 deg, deltaT: 4.358893 s, approachRate: -3.014525 m/s, LOS rate: -1.072515 deg/s, posRepo size: 4
2021-08-15T02:23:21.190Z,1628994201.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:23:21.557Z,1628994201.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:23:21.557Z,1628994201.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:23:21.557Z,1628994201.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:23:21.558Z,1628994201.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:23:21.973Z,1628994201.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9C,000,007E6,186,80,80,78,FF
2021-08-15T02:23:21.973Z,1628994201.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:23:21.973Z,1628994201.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:23:21.975Z,1628994201.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:23:22.373Z,1628994202.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:23:22.789Z,1628994202.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32E,000,00923,18A,80,80,6D,FF
2021-08-15T02:23:22.790Z,1628994202.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:23:23.217Z,1628994203.217 [Micromodem](INFO): Nmea in: $SNTTA,0.073210,,,,022323.29*4E

2021-08-15T02:23:23.240Z,1628994203.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.840004 m, bearing: 136.604384 deg, deltaT: 4.530127 s, approachRate: 4.198557 m/s, LOS rate: -12.615298 deg/s, posRepo size: 4
2021-08-15T02:23:25.625Z,1628994205.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:23:26.021Z,1628994206.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:23:26.021Z,1628994206.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:23:26.021Z,1628994206.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:23:26.022Z,1628994206.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:23:26.405Z,1628994206.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32E,000,00923,18A,80,80,6D,FF
2021-08-15T02:23:26.405Z,1628994206.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:23:26.405Z,1628994206.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:23:26.407Z,1628994206.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:23:26.821Z,1628994206.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:23:27.213Z,1628994207.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F3,000,00955,189,80,80,74,FF
2021-08-15T02:23:27.213Z,1628994207.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:23:27.677Z,1628994207.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022327.72*5D

2021-08-15T02:23:27.716Z,1628994207.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.840004 m, bearing: 140.807000 deg, deltaT: 4.385211 s, approachRate: 0.684118 m/s, LOS rate: 0.958361 deg/s, posRepo size: 4
2021-08-15T02:23:30.106Z,1628994210.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:23:30.445Z,1628994210.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:23:30.445Z,1628994210.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:23:30.445Z,1628994210.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:23:30.446Z,1628994210.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:23:30.865Z,1628994210.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F3,000,00955,189,80,80,74,FF
2021-08-15T02:23:30.865Z,1628994210.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:23:30.865Z,1628994210.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:23:30.867Z,1628994210.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:23:31.255Z,1628994211.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:23:31.694Z,1628994211.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C6,000,00985,189,80,80,85,FF
2021-08-15T02:23:31.696Z,1628994211.696 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:23:32.089Z,1628994212.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022332.18*55

2021-08-15T02:23:32.169Z,1628994212.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.720001 m, bearing: 144.400308 deg, deltaT: 4.467151 s, approachRate: 0.644706 m/s, LOS rate: 0.804385 deg/s, posRepo size: 4
2021-08-15T02:23:34.521Z,1628994214.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:23:34.896Z,1628994214.896 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:23:34.897Z,1628994214.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:23:34.897Z,1628994214.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:23:34.898Z,1628994214.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:23:35.295Z,1628994215.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C6,000,00985,189,80,80,85,FF
2021-08-15T02:23:35.295Z,1628994215.295 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:23:35.296Z,1628994215.296 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:23:35.297Z,1628994215.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:23:35.740Z,1628994215.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:23:36.109Z,1628994216.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B5,000,009B9,189,80,80,7A,FF
2021-08-15T02:23:36.109Z,1628994216.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:23:36.541Z,1628994216.541 [CTD_Seabird](ERROR): Failed to parse device response: .99
2021-08-15T02:23:36.545Z,1628994216.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022336.61*5F

2021-08-15T02:23:36.586Z,1628994216.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.840004 m, bearing: 144.005140 deg, deltaT: 4.476794 s, approachRate: 0.696928 m/s, LOS rate: -0.088270 deg/s, posRepo size: 4
2021-08-15T02:23:39.005Z,1628994219.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:23:39.349Z,1628994219.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:23:39.349Z,1628994219.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:23:39.349Z,1628994219.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:23:39.350Z,1628994219.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:23:39.775Z,1628994219.775 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B5,000,009B9,189,80,80,7A,FF
2021-08-15T02:23:39.775Z,1628994219.775 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:23:39.776Z,1628994219.776 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:23:39.809Z,1628994219.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:23:40.143Z,1628994220.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:23:40.949Z,1628994220.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,009E6,187,80,80,8E,FF
2021-08-15T02:23:40.949Z,1628994220.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:23:41.366Z,1628994221.366 [Micromodem](INFO): Nmea in: $SNTTA,0.104459,,,,022341.17*4D

2021-08-15T02:23:41.410Z,1628994221.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.540001 m, bearing: 203.348132 deg, deltaT: 4.822760 s, approachRate: 0.559845 m/s, LOS rate: 12.304778 deg/s, posRepo size: 4
2021-08-15T02:23:43.906Z,1628994223.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:23:44.189Z,1628994224.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:23:44.189Z,1628994224.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:23:44.189Z,1628994224.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:23:44.190Z,1628994224.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:23:44.585Z,1628994224.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,009E6,187,80,80,8E,FF
2021-08-15T02:23:44.585Z,1628994224.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:23:44.585Z,1628994224.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:23:44.587Z,1628994224.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:23:45.000Z,1628994225.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:23:45.397Z,1628994225.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C8,000,00A1B,189,80,80,8D,FF
2021-08-15T02:23:45.397Z,1628994225.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:23:45.877Z,1628994225.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022345.90*55

2021-08-15T02:23:45.923Z,1628994225.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.719994 m, bearing: 143.040718 deg, deltaT: 4.441919 s, approachRate: 0.715905 m/s, LOS rate: -13.576883 deg/s, posRepo size: 4
2021-08-15T02:23:48.243Z,1628994228.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:23:48.625Z,1628994228.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:23:48.625Z,1628994228.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:23:48.625Z,1628994228.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:23:48.626Z,1628994228.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:23:49.029Z,1628994229.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C8,000,00A1B,189,80,80,8D,FF
2021-08-15T02:23:49.029Z,1628994229.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:23:49.029Z,1628994229.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:23:49.031Z,1628994229.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:23:49.437Z,1628994229.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:23:49.873Z,1628994229.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C8,000,00A4A,18A,80,80,6D,FF
2021-08-15T02:23:49.873Z,1628994229.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:23:50.277Z,1628994230.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022350.35*5E

2021-08-15T02:23:50.338Z,1628994230.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.540001 m, bearing: 142.754533 deg, deltaT: 4.490281 s, approachRate: 0.628025 m/s, LOS rate: -0.063734 deg/s, posRepo size: 4
2021-08-15T02:23:52.741Z,1628994232.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:23:53.069Z,1628994233.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:23:53.069Z,1628994233.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:23:53.069Z,1628994233.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:23:53.070Z,1628994233.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:23:53.473Z,1628994233.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C8,000,00A4A,18A,80,80,6D,FF
2021-08-15T02:23:53.473Z,1628994233.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:23:53.473Z,1628994233.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:23:53.475Z,1628994233.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:23:53.881Z,1628994233.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:23:54.722Z,1628994234.722 [Micromodem](INFO): Nmea in: $SNTTA,0.118676,,,,022354.79*43

2021-08-15T02:23:55.523Z,1628994235.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:23:56.746Z,1628994236.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,8C8,000,00A4A,18A,80,80,6D,FF
2021-08-15T02:23:56.746Z,1628994236.746 [DUSBL_Hydroid](INFO): No reply:!U1,N,8C8,000,00A4A,18A,80,80,6D,FF
2021-08-15T02:23:56.746Z,1628994236.746 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:23:58.343Z,1628994238.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:23:58.740Z,1628994238.740 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:23:58.741Z,1628994238.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:23:58.741Z,1628994238.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:23:58.742Z,1628994238.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:23:59.130Z,1628994239.130 [DUSBL_Hydroid](INFO): DUSBL response received:0,80,63,E4
!U1,P
4A,18A,80,80,6D,FF
2021-08-15T02:23:59.130Z,1628994239.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:23:59.130Z,1628994239.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:23:59.133Z,1628994239.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:23:59.541Z,1628994239.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:23:59.949Z,1628994239.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,00AB9,189,80,80,76,FF
2021-08-15T02:23:59.950Z,1628994239.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:24:00.381Z,1628994240.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022400.45*5B

2021-08-15T02:24:00.404Z,1628994240.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.200005 m, bearing: 146.427918 deg, deltaT: 10.063897 s, approachRate: 0.661772 m/s, LOS rate: 0.365006 deg/s, posRepo size: 4
2021-08-15T02:24:02.793Z,1628994242.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:24:03.177Z,1628994243.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:24:03.177Z,1628994243.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:24:03.177Z,1628994243.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:24:03.178Z,1628994243.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:24:03.574Z,1628994243.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,00AB9,189,80,80,76,FF
2021-08-15T02:24:03.574Z,1628994243.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:24:03.574Z,1628994243.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:24:03.576Z,1628994243.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:24:03.992Z,1628994243.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:24:04.385Z,1628994244.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,00AEE,189,80,80,51,FF
2021-08-15T02:24:04.385Z,1628994244.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:24:04.825Z,1628994244.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022404.89*5F

2021-08-15T02:24:04.869Z,1628994244.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.380005 m, bearing: 146.502421 deg, deltaT: 4.381402 s, approachRate: 0.725795 m/s, LOS rate: 0.017005 deg/s, posRepo size: 4
2021-08-15T02:24:07.227Z,1628994247.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:24:07.616Z,1628994247.616 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:24:07.616Z,1628994247.616 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:24:07.617Z,1628994247.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:24:07.617Z,1628994247.617 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:24:08.030Z,1628994248.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
290,000,00AEE,189,80,80,51,FF
2021-08-15T02:24:08.030Z,1628994248.030 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:24:08.030Z,1628994248.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:24:08.031Z,1628994248.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:24:08.436Z,1628994248.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:24:08.833Z,1628994248.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,296,000,00B1C,189,80,80,6A,FF
2021-08-15T02:24:08.833Z,1628994248.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:24:09.270Z,1628994249.270 [Micromodem](INFO): Nmea in: $SNTTA,0.090597,,,,022409.35*49

2021-08-15T02:24:09.293Z,1628994249.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.139999 m, bearing: 145.465489 deg, deltaT: 4.498461 s, approachRate: 0.613542 m/s, LOS rate: -0.230508 deg/s, posRepo size: 4
2021-08-15T02:24:11.710Z,1628994251.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:24:12.069Z,1628994252.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:24:12.069Z,1628994252.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:24:12.069Z,1628994252.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:24:12.070Z,1628994252.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:24:12.465Z,1628994252.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
296,000,00B1C,189,80,80,6A,FF
2021-08-15T02:24:12.465Z,1628994252.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:24:12.465Z,1628994252.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:24:12.467Z,1628994252.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:24:12.872Z,1628994252.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:24:13.285Z,1628994253.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BA,000,00B4E,189,80,80,49,FF
2021-08-15T02:24:13.286Z,1628994253.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:24:13.737Z,1628994253.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022413.78*57

2021-08-15T02:24:13.829Z,1628994253.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.139999 m, bearing: 143.310305 deg, deltaT: 4.426236 s, approachRate: 0.677777 m/s, LOS rate: -0.486911 deg/s, posRepo size: 4
2021-08-15T02:24:15.837Z,1628994255.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:24:16.101Z,1628994256.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:24:16.101Z,1628994256.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:24:16.101Z,1628994256.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:24:16.102Z,1628994256.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:24:16.505Z,1628994256.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BA,000,00B4E,189,80,80,49,FF
2021-08-15T02:24:16.505Z,1628994256.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:24:16.505Z,1628994256.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:24:16.507Z,1628994256.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:24:16.916Z,1628994256.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:24:17.321Z,1628994257.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28E,000,00B7B,18A,80,80,5A,FF
2021-08-15T02:24:17.322Z,1628994257.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:24:17.764Z,1628994257.764 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022417.82*56

2021-08-15T02:24:17.842Z,1628994257.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.839996 m, bearing: 145.062508 deg, deltaT: 4.011393 s, approachRate: 0.673082 m/s, LOS rate: 0.436807 deg/s, posRepo size: 4
2021-08-15T02:24:20.167Z,1628994260.167 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T02:24:20.203Z,1628994260.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:24:20.549Z,1628994260.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:24:20.550Z,1628994260.550 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:24:20.550Z,1628994260.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:24:20.551Z,1628994260.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:24:20.949Z,1628994260.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28E,000,00B7B,18A,80,80,5A,FF
2021-08-15T02:24:20.949Z,1628994260.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:24:20.950Z,1628994260.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:24:20.951Z,1628994260.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:24:21.357Z,1628994261.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:24:21.769Z,1628994261.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,00BA9,187,80,80,2C,FF
2021-08-15T02:24:21.771Z,1628994261.771 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:24:22.209Z,1628994262.209 [Micromodem](INFO): Nmea in: $SNTTA,0.315361,,,,022422.27*42

2021-08-15T02:24:22.261Z,1628994262.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.600006 m, bearing: 201.333595 deg, deltaT: 4.532382 s, approachRate: 0.608953 m/s, LOS rate: 12.415345 deg/s, posRepo size: 4
2021-08-15T02:24:24.607Z,1628994264.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:24:25.001Z,1628994265.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:24:25.001Z,1628994265.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:24:25.001Z,1628994265.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:24:25.002Z,1628994265.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:24:25.402Z,1628994265.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,00BA9,187,80,80,2C,FF
2021-08-15T02:24:25.402Z,1628994265.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:24:25.402Z,1628994265.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:24:25.404Z,1628994265.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:24:25.857Z,1628994265.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:24:26.217Z,1628994266.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,232,000,00BD8,189,80,80,42,FF
2021-08-15T02:24:26.217Z,1628994266.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:24:26.660Z,1628994266.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022426.72*5B

2021-08-15T02:24:26.709Z,1628994266.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.419998 m, bearing: 149.528100 deg, deltaT: 4.383276 s, approachRate: 0.643353 m/s, LOS rate: -11.818899 deg/s, posRepo size: 4
2021-08-15T02:24:29.063Z,1628994269.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:24:29.433Z,1628994269.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:24:29.434Z,1628994269.434 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:24:29.434Z,1628994269.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:24:29.435Z,1628994269.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:24:29.865Z,1628994269.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
232,000,00BD8,189,80,80,42,FF
2021-08-15T02:24:29.865Z,1628994269.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:24:29.865Z,1628994269.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:24:29.866Z,1628994269.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:24:30.249Z,1628994270.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:24:30.665Z,1628994270.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,323,000,00C08,189,80,80,42,FF
2021-08-15T02:24:30.666Z,1628994270.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:24:31.085Z,1628994271.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022431.18*51

2021-08-15T02:24:31.108Z,1628994271.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.300003 m, bearing: 136.728270 deg, deltaT: 4.476027 s, approachRate: 0.643429 m/s, LOS rate: -2.859641 deg/s, posRepo size: 4
2021-08-15T02:24:33.499Z,1628994273.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:24:33.877Z,1628994273.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:24:33.877Z,1628994273.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:24:33.877Z,1628994273.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:24:33.878Z,1628994273.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:24:34.289Z,1628994274.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
323,000,00C08,189,80,80,42,FF
2021-08-15T02:24:34.289Z,1628994274.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:24:34.289Z,1628994274.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:24:34.291Z,1628994274.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:24:34.721Z,1628994274.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:24:35.101Z,1628994275.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,268,000,00C37,189,80,80,5F,FF
2021-08-15T02:24:35.102Z,1628994275.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:24:35.534Z,1628994275.534 [Micromodem](INFO): Nmea in: $SNTTA,0.102064,,,,022435.60*45

2021-08-15T02:24:35.555Z,1628994275.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.120010 m, bearing: 146.699650 deg, deltaT: 4.431213 s, approachRate: 0.636396 m/s, LOS rate: 2.250260 deg/s, posRepo size: 4
2021-08-15T02:24:37.990Z,1628994277.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:24:38.326Z,1628994278.326 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:24:38.326Z,1628994278.326 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:24:38.326Z,1628994278.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:24:38.327Z,1628994278.327 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:24:38.725Z,1628994278.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
268,000,00C37,189,80,80,5F,FF
2021-08-15T02:24:38.725Z,1628994278.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:24:38.726Z,1628994278.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:24:38.727Z,1628994278.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:24:39.155Z,1628994279.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:24:39.538Z,1628994279.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,268,000,00C68,189,80,80,5F,FF
2021-08-15T02:24:39.538Z,1628994279.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:24:39.965Z,1628994279.965 [Micromodem](INFO): Nmea in: $SNTTA,0.465227,0.424867,,,022440.04*51

2021-08-15T02:24:40.052Z,1628994280.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.059998 m, bearing: 145.905736 deg, deltaT: 4.435033 s, approachRate: 0.662901 m/s, LOS rate: -0.179010 deg/s, posRepo size: 4
2021-08-15T02:24:42.406Z,1628994282.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:24:42.765Z,1628994282.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:24:42.765Z,1628994282.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:24:42.765Z,1628994282.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:24:42.766Z,1628994282.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:24:43.186Z,1628994283.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
268,000,00C68,189,80,80,5F,FF
2021-08-15T02:24:43.187Z,1628994283.187 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:24:43.187Z,1628994283.187 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:24:43.189Z,1628994283.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:24:43.580Z,1628994283.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:24:43.978Z,1628994283.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,256,000,00C68,189,80,80,5F,FF
2021-08-15T02:24:43.979Z,1628994283.979 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:24:43.984Z,1628994283.984 [Micromodem](INFO): Nmea in: $SNTTA,0.236551,0.236195,,,022444.50*53

2021-08-15T02:24:44.426Z,1628994284.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.059998 m, bearing: 146.771449 deg, deltaT: 4.504949 s, approachRate: 0.000000 m/s, LOS rate: 0.192169 deg/s, posRepo size: 4
2021-08-15T02:24:46.849Z,1628994286.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:24:47.208Z,1628994287.208 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:24:47.208Z,1628994287.208 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:24:47.209Z,1628994287.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:24:47.209Z,1628994287.209 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:24:47.625Z,1628994287.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
256,000,00C68,189,80,80,5F,FF
2021-08-15T02:24:47.625Z,1628994287.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:24:47.625Z,1628994287.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:24:47.627Z,1628994287.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:24:48.021Z,1628994288.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:24:48.426Z,1628994288.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,00C68,189,80,80,5F,FF
2021-08-15T02:24:48.426Z,1628994288.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:24:48.878Z,1628994288.878 [Micromodem](INFO): Nmea in: $SNTTA,0.126310,,,,022448.94*42

2021-08-15T02:24:48.934Z,1628994288.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.059998 m, bearing: 142.233594 deg, deltaT: 4.366524 s, approachRate: 0.000000 m/s, LOS rate: -1.039237 deg/s, posRepo size: 4
2021-08-15T02:24:51.287Z,1628994291.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:24:51.670Z,1628994291.670 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:24:51.670Z,1628994291.670 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:24:51.670Z,1628994291.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:24:51.671Z,1628994291.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:24:52.053Z,1628994292.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,00C68,189,80,80,5F,FF
2021-08-15T02:24:52.053Z,1628994292.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:24:52.054Z,1628994292.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:24:52.055Z,1628994292.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:24:52.490Z,1628994292.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:24:52.886Z,1628994292.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,255,000,00D11,189,80,80,88,FF
2021-08-15T02:24:52.886Z,1628994292.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:24:53.318Z,1628994293.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022453.37*58

2021-08-15T02:24:53.336Z,1628994293.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.199997 m, bearing: 146.302679 deg, deltaT: 4.516124 s, approachRate: 2.245288 m/s, LOS rate: 0.901013 deg/s, posRepo size: 4
2021-08-15T02:24:55.897Z,1628994295.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:24:56.109Z,1628994296.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:24:56.109Z,1628994296.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:24:56.109Z,1628994296.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:24:56.110Z,1628994296.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:24:56.517Z,1628994296.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
255,000,00D11,189,80,80,88,FF
2021-08-15T02:24:56.517Z,1628994296.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:24:56.517Z,1628994296.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:24:56.519Z,1628994296.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:24:56.925Z,1628994296.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:24:57.330Z,1628994297.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25E,000,00D23,189,80,80,88,FF
2021-08-15T02:24:57.330Z,1628994297.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:24:57.762Z,1628994297.762 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022457.83*53

2021-08-15T02:24:57.855Z,1628994297.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.279999 m, bearing: 146.548211 deg, deltaT: 4.369651 s, approachRate: 0.247160 m/s, LOS rate: 0.056190 deg/s, posRepo size: 4
2021-08-15T02:25:00.210Z,1628994300.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:25:00.557Z,1628994300.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:25:00.558Z,1628994300.558 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:25:00.558Z,1628994300.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:25:00.559Z,1628994300.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:25:00.961Z,1628994300.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25E,000,00D23,189,80,80,88,FF
2021-08-15T02:25:00.961Z,1628994300.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:25:00.961Z,1628994300.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:25:00.963Z,1628994300.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:25:01.387Z,1628994301.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:25:01.782Z,1628994301.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,00B52,189,80,80,72,FF
2021-08-15T02:25:01.784Z,1628994301.784 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:25:01.820Z,1628994301.820 [Micromodem](INFO): Nmea in: $SNTTA,0.308361,0.307380,,,022502.28*53

2021-08-15T02:25:02.221Z,1628994302.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.380005 m, bearing: 144.518689 deg, deltaT: 4.581811 s, approachRate: -6.089294 m/s, LOS rate: -0.442952 deg/s, posRepo size: 4
2021-08-15T02:25:04.626Z,1628994304.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:25:05.005Z,1628994305.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:25:05.005Z,1628994305.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:25:05.005Z,1628994305.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:25:05.006Z,1628994305.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:25:05.405Z,1628994305.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,00B52,189,80,80,72,FF
2021-08-15T02:25:05.405Z,1628994305.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:25:05.405Z,1628994305.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:25:05.407Z,1628994305.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:25:05.849Z,1628994305.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:25:06.210Z,1628994306.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,00B52,189,80,80,72,FF
2021-08-15T02:25:06.210Z,1628994306.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:25:06.665Z,1628994306.665 [Micromodem](INFO): Nmea in: $SNTTA,,0.085686,,,022506.72*43

2021-08-15T02:25:06.714Z,1628994306.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.380005 m, bearing: 148.981780 deg, deltaT: 4.334698 s, approachRate: 0.000000 m/s, LOS rate: 1.029620 deg/s, posRepo size: 4
2021-08-15T02:25:09.063Z,1628994309.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:25:09.441Z,1628994309.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:25:09.441Z,1628994309.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:25:09.441Z,1628994309.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:25:09.442Z,1628994309.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:25:09.865Z,1628994309.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,00B52,189,80,80,72,FF
2021-08-15T02:25:09.865Z,1628994309.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:25:09.865Z,1628994309.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:25:09.867Z,1628994309.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:25:10.257Z,1628994310.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:25:10.674Z,1628994310.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,225,000,00B52,189,80,80,72,FF
2021-08-15T02:25:10.674Z,1628994310.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:25:11.077Z,1628994311.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022511.18*52

2021-08-15T02:25:11.114Z,1628994311.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.380005 m, bearing: 150.887963 deg, deltaT: 4.496578 s, approachRate: 0.000000 m/s, LOS rate: 0.423919 deg/s, posRepo size: 4
2021-08-15T02:25:13.511Z,1628994313.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:25:13.885Z,1628994313.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:25:13.885Z,1628994313.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:25:13.885Z,1628994313.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:25:13.886Z,1628994313.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:25:14.290Z,1628994314.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
225,000,00B52,189,80,80,72,FF
2021-08-15T02:25:14.290Z,1628994314.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:25:14.290Z,1628994314.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:25:14.292Z,1628994314.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:25:14.716Z,1628994314.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:25:15.098Z,1628994315.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,234,000,00B52,189,80,80,72,FF
2021-08-15T02:25:15.098Z,1628994315.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:25:15.533Z,1628994315.533 [Micromodem](INFO): Nmea in: $SNTTA,0.133884,,,,022515.61*43

2021-08-15T02:25:15.563Z,1628994315.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.380005 m, bearing: 150.318817 deg, deltaT: 4.383670 s, approachRate: 0.000000 m/s, LOS rate: -0.129833 deg/s, posRepo size: 4
2021-08-15T02:25:17.994Z,1628994317.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:25:18.325Z,1628994318.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:25:18.325Z,1628994318.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:25:18.325Z,1628994318.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:25:18.326Z,1628994318.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:25:18.737Z,1628994318.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
234,000,00B52,189,80,80,72,FF
2021-08-15T02:25:18.738Z,1628994318.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:25:18.738Z,1628994318.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:25:18.739Z,1628994318.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:25:19.139Z,1628994319.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:25:19.969Z,1628994319.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,248,000,00E13,189,80,80,58,FF
2021-08-15T02:25:19.970Z,1628994319.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:25:19.977Z,1628994319.977 [Micromodem](INFO): Nmea in: $SNTTA,0.131521,,,,022520.06*44

2021-08-15T02:25:20.388Z,1628994320.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.679993 m, bearing: 149.231096 deg, deltaT: 4.919737 s, approachRate: 8.598018 m/s, LOS rate: -0.221093 deg/s, posRepo size: 4
2021-08-15T02:25:22.821Z,1628994322.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:25:23.189Z,1628994323.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:25:23.189Z,1628994323.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:25:23.189Z,1628994323.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:25:23.190Z,1628994323.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:25:23.585Z,1628994323.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
248,000,00E13,189,80,80,58,FF
2021-08-15T02:25:23.586Z,1628994323.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:25:23.586Z,1628994323.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:25:23.587Z,1628994323.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:25:23.985Z,1628994323.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:25:24.817Z,1628994324.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00E57,185,80,80,30,FF
2021-08-15T02:25:24.817Z,1628994324.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:25:24.821Z,1628994324.821 [Micromodem](INFO): Nmea in: $SNTTA,0.132299,,,,022524.90*48

2021-08-15T02:25:25.237Z,1628994325.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.760010 m, bearing: 182.303896 deg, deltaT: 4.811505 s, approachRate: 0.847971 m/s, LOS rate: 6.873691 deg/s, posRepo size: 4
2021-08-15T02:25:27.691Z,1628994327.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:25:28.033Z,1628994328.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:25:28.033Z,1628994328.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:25:28.033Z,1628994328.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:25:28.034Z,1628994328.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:25:28.429Z,1628994328.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00E57,185,80,80,30,FF
2021-08-15T02:25:28.429Z,1628994328.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:25:28.429Z,1628994328.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:25:28.431Z,1628994328.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:25:28.838Z,1628994328.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:25:29.701Z,1628994329.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,00E7D,189,80,80,44,FF
2021-08-15T02:25:29.701Z,1628994329.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:25:29.724Z,1628994329.724 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022529.75*52

2021-08-15T02:25:30.100Z,1628994330.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.039993 m, bearing: 148.317886 deg, deltaT: 4.937985 s, approachRate: 0.461723 m/s, LOS rate: -6.882566 deg/s, posRepo size: 4
2021-08-15T02:25:32.493Z,1628994332.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:25:32.873Z,1628994332.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:25:32.873Z,1628994332.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:25:32.873Z,1628994332.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:25:32.874Z,1628994332.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:25:33.277Z,1628994333.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,00E7D,189,80,80,44,FF
2021-08-15T02:25:33.277Z,1628994333.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:25:33.277Z,1628994333.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:25:33.279Z,1628994333.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:25:33.709Z,1628994333.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:25:34.103Z,1628994334.103 [Micromodem](INFO): Nmea in: $SNTTA,0.190424,0.190549,,,022534.60*50

2021-08-15T02:25:34.493Z,1628994334.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F68,000,00EBD,187,80,80,2E,FF
2021-08-15T02:25:34.493Z,1628994334.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:25:34.943Z,1628994334.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.879990 m, bearing: 186.080335 deg, deltaT: 4.715086 s, approachRate: 0.814406 m/s, LOS rate: 8.008857 deg/s, posRepo size: 4
2021-08-15T02:25:37.343Z,1628994337.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:25:37.730Z,1628994337.730 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:25:37.731Z,1628994337.731 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:25:37.731Z,1628994337.731 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:25:37.748Z,1628994337.748 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:25:38.130Z,1628994338.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F68,000,00EBD,187,80,80,2E,FF
2021-08-15T02:25:38.130Z,1628994338.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:25:38.130Z,1628994338.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:25:38.133Z,1628994338.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:25:38.545Z,1628994338.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:25:39.362Z,1628994339.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022539.45*50

2021-08-15T02:25:40.218Z,1628994340.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:25:41.797Z,1628994341.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,2E,FF
2021-08-15T02:25:41.798Z,1628994341.798 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,2E,FF
2021-08-15T02:25:41.798Z,1628994341.798 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:25:43.002Z,1628994343.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:25:43.389Z,1628994343.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:25:43.389Z,1628994343.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:25:43.389Z,1628994343.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:25:43.390Z,1628994343.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:25:43.815Z,1628994343.815 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,2E,FF
2021-08-15T02:25:43.815Z,1628994343.815 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:25:43.815Z,1628994343.815 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:25:43.817Z,1628994343.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:25:44.208Z,1628994344.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:25:45.022Z,1628994345.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,00F26,185,80,80,47,FF
2021-08-15T02:25:45.022Z,1628994345.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:25:45.025Z,1628994345.025 [Micromodem](INFO): Nmea in: $SNTTA,0.239107,,,,022545.13*48

2021-08-15T02:25:45.440Z,1628994345.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.179993 m, bearing: 157.912990 deg, deltaT: 10.540794 s, approachRate: 0.597678 m/s, LOS rate: -2.672222 deg/s, posRepo size: 4
2021-08-15T02:25:47.923Z,1628994347.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:25:48.246Z,1628994348.246 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:25:48.246Z,1628994348.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:25:48.247Z,1628994348.247 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:25:48.248Z,1628994348.248 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:25:48.654Z,1628994348.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AC,000,00F26,185,80,80,47,FF
2021-08-15T02:25:48.655Z,1628994348.655 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:25:48.655Z,1628994348.655 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:25:48.668Z,1628994348.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:25:49.062Z,1628994349.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:25:49.879Z,1628994349.879 [Micromodem](INFO): Nmea in: $SNTTA,0.134557,,,,022549.99*49

2021-08-15T02:25:50.253Z,1628994350.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,02684,185,80,80,41,FF
2021-08-15T02:25:50.253Z,1628994350.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:25:50.735Z,1628994350.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 554.099976 m, bearing: 181.878116 deg, deltaT: 5.195287 s, approachRate: 69.085686 m/s, LOS rate: 4.612859 deg/s, posRepo size: 4
2021-08-15T02:25:53.142Z,1628994353.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:25:53.481Z,1628994353.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:25:53.482Z,1628994353.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:25:53.482Z,1628994353.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:25:53.483Z,1628994353.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:25:53.889Z,1628994353.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,02684,185,80,80,41,FF
2021-08-15T02:25:53.890Z,1628994353.890 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:25:53.890Z,1628994353.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:25:53.893Z,1628994353.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:25:54.305Z,1628994354.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:25:55.143Z,1628994355.143 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022555.21*58

2021-08-15T02:25:55.997Z,1628994355.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:25:57.533Z,1628994357.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,185,80,80,41,FF
2021-08-15T02:25:57.533Z,1628994357.533 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,185,80,80,41,FF
2021-08-15T02:25:57.534Z,1628994357.534 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:25:58.803Z,1628994358.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:25:59.159Z,1628994359.159 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:25:59.160Z,1628994359.160 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:25:59.160Z,1628994359.160 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:25:59.161Z,1628994359.161 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:25:59.549Z,1628994359.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,185,80,80,41,FF
2021-08-15T02:25:59.549Z,1628994359.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:25:59.550Z,1628994359.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:25:59.553Z,1628994359.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:25:59.963Z,1628994359.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:26:01.594Z,1628994361.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:03.197Z,1628994363.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,185,80,80,41,FF
2021-08-15T02:26:03.197Z,1628994363.197 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,185,80,80,41,FF
2021-08-15T02:26:03.197Z,1628994363.197 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:26:04.423Z,1628994364.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:04.793Z,1628994364.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:26:04.793Z,1628994364.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:26:04.793Z,1628994364.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:26:04.794Z,1628994364.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:26:05.210Z,1628994365.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,185,80,80,41,FF
2021-08-15T02:26:05.210Z,1628994365.210 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:26:05.210Z,1628994365.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:26:05.212Z,1628994365.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:26:05.617Z,1628994365.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:26:06.469Z,1628994366.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,194,000,01013,185,80,80,57,FF
2021-08-15T02:26:06.469Z,1628994366.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:26:06.473Z,1628994366.473 [Micromodem](INFO): Nmea in: $SNTTA,0.223642,,,,022606.53*45

2021-08-15T02:26:06.860Z,1628994366.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.399994 m, bearing: 158.920265 deg, deltaT: 16.259829 s, approachRate: -21.199484 m/s, LOS rate: -1.411937 deg/s, posRepo size: 4
2021-08-15T02:26:09.271Z,1628994369.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:09.656Z,1628994369.656 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:26:09.656Z,1628994369.656 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:26:09.657Z,1628994369.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:26:09.658Z,1628994369.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:26:10.049Z,1628994370.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
194,000,01013,185,80,80,57,FF
2021-08-15T02:26:10.049Z,1628994370.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:26:10.049Z,1628994370.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:26:10.051Z,1628994370.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:26:10.465Z,1628994370.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:26:11.290Z,1628994371.290 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022611.37*5C

2021-08-15T02:26:12.117Z,1628994372.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:13.721Z,1628994373.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,185,80,80,57,FF
2021-08-15T02:26:13.721Z,1628994373.721 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,185,80,80,57,FF
2021-08-15T02:26:13.721Z,1628994373.721 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:26:14.941Z,1628994374.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:15.305Z,1628994375.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:26:15.305Z,1628994375.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:26:15.305Z,1628994375.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:26:15.306Z,1628994375.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:26:15.713Z,1628994375.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,185,80,80,57,FF
2021-08-15T02:26:15.713Z,1628994375.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:26:15.713Z,1628994375.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:26:15.715Z,1628994375.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:26:16.112Z,1628994376.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:26:16.942Z,1628994376.942 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022617.03*5D

2021-08-15T02:26:17.833Z,1628994377.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:19.350Z,1628994379.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,185,80,80,57,FF
2021-08-15T02:26:19.350Z,1628994379.350 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,185,80,80,57,FF
2021-08-15T02:26:19.350Z,1628994379.350 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:26:20.571Z,1628994380.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:20.965Z,1628994380.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:26:20.965Z,1628994380.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:26:20.965Z,1628994380.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:26:20.966Z,1628994380.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:26:21.357Z,1628994381.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,185,80,80,57,FF
2021-08-15T02:26:21.357Z,1628994381.357 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:26:21.358Z,1628994381.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:26:21.359Z,1628994381.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:26:21.817Z,1628994381.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:26:22.605Z,1628994382.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022622.68*56

2021-08-15T02:26:23.411Z,1628994383.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:25.006Z,1628994385.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,185,80,80,57,FF
2021-08-15T02:26:25.006Z,1628994385.006 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,185,80,80,57,FF
2021-08-15T02:26:25.006Z,1628994385.006 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:26:26.028Z,1628994386.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:26.209Z,1628994386.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:26:26.209Z,1628994386.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:26:26.209Z,1628994386.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:26:26.210Z,1628994386.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:26:26.621Z,1628994386.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,185,80,80,57,FF
2021-08-15T02:26:26.621Z,1628994386.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:26:26.621Z,1628994386.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:26:26.623Z,1628994386.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:26:27.021Z,1628994387.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:26:27.861Z,1628994387.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,0110E,187,80,80,38,FF
2021-08-15T02:26:27.861Z,1628994387.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:26:27.892Z,1628994387.892 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022627.94*50

2021-08-15T02:26:28.265Z,1628994388.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.459991 m, bearing: 186.122108 deg, deltaT: 21.419983 s, approachRate: 0.703082 m/s, LOS rate: 1.269928 deg/s, posRepo size: 4
2021-08-15T02:26:30.710Z,1628994390.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:31.065Z,1628994391.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:26:31.065Z,1628994391.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:26:31.065Z,1628994391.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:26:31.066Z,1628994391.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:26:31.469Z,1628994391.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,0110E,187,80,80,38,FF
2021-08-15T02:26:31.469Z,1628994391.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:26:31.469Z,1628994391.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:26:31.471Z,1628994391.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:26:31.869Z,1628994391.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:26:32.716Z,1628994392.716 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21F,000,01138,188,80,80,44,FF
2021-08-15T02:26:32.717Z,1628994392.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:26:32.720Z,1628994392.720 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022632.79*57

2021-08-15T02:26:33.108Z,1628994393.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.979996 m, bearing: 149.773850 deg, deltaT: 4.794951 s, approachRate: 0.525554 m/s, LOS rate: -7.580527 deg/s, posRepo size: 4
2021-08-15T02:26:35.523Z,1628994395.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:35.913Z,1628994395.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:26:35.913Z,1628994395.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:26:35.913Z,1628994395.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:26:35.914Z,1628994395.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:26:36.321Z,1628994396.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21F,000,01138,188,80,80,44,FF
2021-08-15T02:26:36.321Z,1628994396.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:26:36.321Z,1628994396.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:26:36.323Z,1628994396.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:26:36.724Z,1628994396.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:26:37.550Z,1628994397.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022637.64*5E

2021-08-15T02:26:38.351Z,1628994398.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:39.945Z,1628994399.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:26:39.945Z,1628994399.945 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:26:39.945Z,1628994399.945 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:26:41.194Z,1628994401.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:41.561Z,1628994401.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:26:41.561Z,1628994401.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:26:41.561Z,1628994401.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:26:41.562Z,1628994401.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:26:41.965Z,1628994401.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:26:41.965Z,1628994401.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:26:41.965Z,1628994401.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:26:41.967Z,1628994401.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:26:42.390Z,1628994402.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:26:43.202Z,1628994403.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022643.28*55

2021-08-15T02:26:44.084Z,1628994404.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:45.601Z,1628994405.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:26:45.601Z,1628994405.601 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:26:45.602Z,1628994405.602 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:26:46.849Z,1628994406.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:47.217Z,1628994407.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:26:47.217Z,1628994407.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:26:47.217Z,1628994407.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:26:47.218Z,1628994407.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:26:47.631Z,1628994407.631 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:26:47.632Z,1628994407.632 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:26:47.633Z,1628994407.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:26:47.639Z,1628994407.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:26:48.028Z,1628994408.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:26:48.850Z,1628994408.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022648.95*58

2021-08-15T02:26:49.701Z,1628994409.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:51.257Z,1628994411.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:26:51.258Z,1628994411.258 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:26:51.258Z,1628994411.258 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:26:52.507Z,1628994412.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:52.873Z,1628994412.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:26:52.873Z,1628994412.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:26:52.873Z,1628994412.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:26:52.874Z,1628994412.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:26:53.285Z,1628994413.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:26:53.285Z,1628994413.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:26:53.285Z,1628994413.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:26:53.287Z,1628994413.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:26:53.721Z,1628994413.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:26:54.514Z,1628994414.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022654.61*5E

2021-08-15T02:26:55.315Z,1628994415.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:56.917Z,1628994416.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:26:56.918Z,1628994416.918 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:26:56.918Z,1628994416.918 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:26:57.823Z,1628994417.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:26:58.138Z,1628994418.138 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:26:58.138Z,1628994418.138 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:26:58.138Z,1628994418.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:26:58.139Z,1628994418.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:26:58.172Z,1628994418.172 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:26:58.172Z,1628994418.172 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:26:58.172Z,1628994418.172 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:26:58.174Z,1628994418.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:26:58.532Z,1628994418.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:26:59.350Z,1628994419.350 [Micromodem](INFO): Nmea in: $SNTTA,0.167627,,,,022659.49*44

2021-08-15T02:27:00.598Z,1628994420.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:01.767Z,1628994421.767 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:27:01.767Z,1628994421.767 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:27:01.768Z,1628994421.768 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:27:03.395Z,1628994423.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:03.799Z,1628994423.799 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:27:03.799Z,1628994423.799 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:27:03.800Z,1628994423.800 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:27:03.802Z,1628994423.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:27:04.189Z,1628994424.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:27:04.189Z,1628994424.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:27:04.189Z,1628994424.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:27:04.191Z,1628994424.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:27:04.597Z,1628994424.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:27:05.431Z,1628994425.431 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022705.51*58

2021-08-15T02:27:05.900Z,1628994425.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:07.862Z,1628994427.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:27:07.863Z,1628994427.863 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:27:07.863Z,1628994427.863 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:27:08.715Z,1628994428.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:09.045Z,1628994429.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:27:09.045Z,1628994429.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:27:09.045Z,1628994429.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:27:09.046Z,1628994429.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:27:09.445Z,1628994429.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:27:09.445Z,1628994429.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:27:09.445Z,1628994429.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:27:09.447Z,1628994429.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:27:09.860Z,1628994429.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:27:10.703Z,1628994430.703 [Micromodem](INFO): Nmea in: $SNTTA,,0.064358,,,022710.76*4B

2021-08-15T02:27:11.527Z,1628994431.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:13.083Z,1628994433.083 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:27:13.083Z,1628994433.083 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:27:13.083Z,1628994433.083 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:27:14.303Z,1628994434.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:14.713Z,1628994434.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:27:14.713Z,1628994434.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:27:14.713Z,1628994434.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:27:14.714Z,1628994434.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:27:15.089Z,1628994435.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:27:15.090Z,1628994435.090 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:27:15.090Z,1628994435.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:27:15.092Z,1628994435.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:27:15.515Z,1628994435.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:27:16.326Z,1628994436.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022716.41*5B

2021-08-15T02:27:17.154Z,1628994437.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:18.725Z,1628994438.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:27:18.725Z,1628994438.725 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:27:18.726Z,1628994438.726 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:27:20.022Z,1628994440.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:20.345Z,1628994440.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:27:20.345Z,1628994440.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:27:20.345Z,1628994440.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:27:20.346Z,1628994440.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:27:20.753Z,1628994440.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,188,80,80,44,FF
2021-08-15T02:27:20.753Z,1628994440.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:27:20.753Z,1628994440.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:27:20.755Z,1628994440.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:27:21.170Z,1628994441.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:27:21.989Z,1628994441.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A4,000,01344,186,80,80,40,FF
2021-08-15T02:27:21.989Z,1628994441.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:27:22.012Z,1628994442.012 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022722.07*5E

2021-08-15T02:27:22.424Z,1628994442.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.419983 m, bearing: 156.696971 deg, deltaT: 49.326028 s, approachRate: 0.637391 m/s, LOS rate: 0.140354 deg/s, posRepo size: 4
2021-08-15T02:27:24.829Z,1628994444.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:25.197Z,1628994445.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:27:25.197Z,1628994445.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:27:25.197Z,1628994445.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:27:25.198Z,1628994445.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:27:25.597Z,1628994445.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A4,000,01344,186,80,80,40,FF
2021-08-15T02:27:25.597Z,1628994445.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:27:25.597Z,1628994445.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:27:25.599Z,1628994445.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:27:26.015Z,1628994446.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:27:26.834Z,1628994446.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022726.92*56

2021-08-15T02:27:27.697Z,1628994447.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:29.245Z,1628994449.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,40,FF
2021-08-15T02:27:29.245Z,1628994449.245 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,40,FF
2021-08-15T02:27:29.246Z,1628994449.246 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:27:30.468Z,1628994450.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:30.857Z,1628994450.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:27:30.857Z,1628994450.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:27:30.857Z,1628994450.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:27:30.858Z,1628994450.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:27:31.253Z,1628994451.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,40,FF
2021-08-15T02:27:31.253Z,1628994451.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:27:31.253Z,1628994451.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:27:31.255Z,1628994451.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:27:31.680Z,1628994451.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:27:32.485Z,1628994452.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DD,000,013BC,186,80,80,5A,FF
2021-08-15T02:27:32.485Z,1628994452.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:27:32.488Z,1628994452.488 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022732.57*5A

2021-08-15T02:27:32.905Z,1628994452.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.619995 m, bearing: 167.914860 deg, deltaT: 10.456233 s, approachRate: 0.688586 m/s, LOS rate: 1.072842 deg/s, posRepo size: 4
2021-08-15T02:27:35.311Z,1628994455.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:35.709Z,1628994455.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:27:35.709Z,1628994455.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:27:35.709Z,1628994455.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:27:35.710Z,1628994455.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:27:36.184Z,1628994456.184 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DD,000,013BC,186,80,80,5A,FF
2021-08-15T02:27:36.185Z,1628994456.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:27:36.185Z,1628994456.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:27:36.186Z,1628994456.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:27:36.572Z,1628994456.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:27:36.985Z,1628994456.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CC,000,00B71,186,80,80,50,FF
2021-08-15T02:27:36.985Z,1628994456.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:27:37.402Z,1628994457.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022737.51*59

2021-08-15T02:27:37.424Z,1628994457.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.240005 m, bearing: 168.600201 deg, deltaT: 4.489705 s, approachRate: -28.371572 m/s, LOS rate: 0.152647 deg/s, posRepo size: 4
2021-08-15T02:27:39.927Z,1628994459.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:40.210Z,1628994460.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:27:40.210Z,1628994460.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:27:40.210Z,1628994460.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:27:40.211Z,1628994460.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:27:40.622Z,1628994460.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CC,000,00B71,186,80,80,50,FF
2021-08-15T02:27:40.622Z,1628994460.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:27:40.622Z,1628994460.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:27:40.624Z,1628994460.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:27:41.012Z,1628994461.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:27:41.869Z,1628994461.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,167,000,0141E,186,80,80,5F,FF
2021-08-15T02:27:41.869Z,1628994461.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:27:41.872Z,1628994461.872 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022741.94*51

2021-08-15T02:27:42.260Z,1628994462.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.500000 m, bearing: 160.356641 deg, deltaT: 4.924226 s, approachRate: 27.062120 m/s, LOS rate: -1.674082 deg/s, posRepo size: 4
2021-08-15T02:27:44.709Z,1628994464.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:45.049Z,1628994465.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:27:45.049Z,1628994465.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:27:45.049Z,1628994465.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:27:45.050Z,1628994465.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:27:45.453Z,1628994465.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
167,000,0141E,186,80,80,5F,FF
2021-08-15T02:27:45.453Z,1628994465.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:27:45.453Z,1628994465.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:27:45.455Z,1628994465.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:27:45.873Z,1628994465.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:27:46.706Z,1628994466.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,111,000,0144E,186,80,80,3B,FF
2021-08-15T02:27:46.706Z,1628994466.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:27:46.709Z,1628994466.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022746.77*5B

2021-08-15T02:27:47.100Z,1628994467.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 274.380005 m, bearing: 164.862926 deg, deltaT: 4.793052 s, approachRate: 0.600871 m/s, LOS rate: 0.940170 deg/s, posRepo size: 4
2021-08-15T02:27:49.538Z,1628994469.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:49.897Z,1628994469.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:27:49.897Z,1628994469.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:27:49.897Z,1628994469.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:27:49.898Z,1628994469.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:27:50.301Z,1628994470.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
111,000,0144E,186,80,80,3B,FF
2021-08-15T02:27:50.301Z,1628994470.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:27:50.301Z,1628994470.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:27:50.303Z,1628994470.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:27:50.726Z,1628994470.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:27:51.558Z,1628994471.558 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022751.62*59

2021-08-15T02:27:52.358Z,1628994472.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:53.937Z,1628994473.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,3B,FF
2021-08-15T02:27:53.937Z,1628994473.937 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,3B,FF
2021-08-15T02:27:53.937Z,1628994473.937 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:27:55.201Z,1628994475.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:55.553Z,1628994475.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:27:55.553Z,1628994475.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:27:55.553Z,1628994475.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:27:55.554Z,1628994475.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:27:55.965Z,1628994475.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,3B,FF
2021-08-15T02:27:55.965Z,1628994475.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:27:55.965Z,1628994475.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:27:55.967Z,1628994475.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:27:56.369Z,1628994476.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:27:57.198Z,1628994477.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022757.29*50

2021-08-15T02:27:58.002Z,1628994478.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:27:59.593Z,1628994479.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,3B,FF
2021-08-15T02:27:59.593Z,1628994479.593 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,3B,FF
2021-08-15T02:27:59.594Z,1628994479.594 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:28:00.853Z,1628994480.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:28:01.209Z,1628994481.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:28:01.209Z,1628994481.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:28:01.209Z,1628994481.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:28:01.210Z,1628994481.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:28:01.621Z,1628994481.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,3B,FF
2021-08-15T02:28:01.622Z,1628994481.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:28:01.622Z,1628994481.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:28:01.623Z,1628994481.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:28:02.022Z,1628994482.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:28:02.825Z,1628994482.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,01513,186,80,80,3E,FF
2021-08-15T02:28:02.826Z,1628994482.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:28:03.268Z,1628994483.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 286.199982 m, bearing: 183.525489 deg, deltaT: 16.120854 s, approachRate: 0.733210 m/s, LOS rate: 1.157666 deg/s, posRepo size: 4
2021-08-15T02:28:03.268Z,1628994483.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 286.20 m. Resuming terminal guidance.
2021-08-15T02:28:03.269Z,1628994483.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T02:28:05.714Z,1628994485.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:28:06.065Z,1628994486.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:28:06.065Z,1628994486.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:28:06.065Z,1628994486.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:28:06.066Z,1628994486.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:28:06.493Z,1628994486.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,01513,186,80,80,3E,FF
2021-08-15T02:28:06.493Z,1628994486.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:28:06.494Z,1628994486.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:28:06.508Z,1628994486.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:28:06.874Z,1628994486.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:28:07.716Z,1628994487.716 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022807.82*5B

2021-08-15T02:28:08.523Z,1628994488.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:28:08.885Z,1628994488.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AF,000,0477D,186,80,80,4E,FF
2021-08-15T02:28:08.886Z,1628994488.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:28:09.334Z,1628994489.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1060.560059 m, bearing: 169.671188 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T02:28:09.335Z,1628994489.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 169.671188deg and heading rate command to 0 deg/s.
2021-08-15T02:28:11.765Z,1628994491.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:28:12.124Z,1628994492.124 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:28:12.124Z,1628994492.124 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:28:12.124Z,1628994492.124 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:28:12.126Z,1628994492.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:28:12.533Z,1628994492.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AF,000,0477D,186,80,80,4E,FF
2021-08-15T02:28:12.533Z,1628994492.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:28:12.533Z,1628994492.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:28:12.535Z,1628994492.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:28:12.937Z,1628994492.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:28:13.781Z,1628994493.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,160,000,01584,186,80,80,51,FF
2021-08-15T02:28:13.781Z,1628994493.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:28:13.784Z,1628994493.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022813.85*59

2021-08-15T02:28:14.194Z,1628994494.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 292.979980 m, bearing: 159.553683 deg, deltaT: 4.933311 s, approachRate: -155.591263 m/s, LOS rate: -2.050855 deg/s, posRepo size: 2
2021-08-15T02:28:14.196Z,1628994494.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 292.979980 m,
      bearing: 159.553683 deg,
      approachRate: -155.591263 m/s,
      LOS rate: -2.050855 deg/s,
      cmd update: -8.203419 deg/s,
      cmd heading: 169.671188 deg,
      new cmd heading: 169.671188 deg.

2021-08-15T02:28:16.583Z,1628994496.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:28:16.978Z,1628994496.978 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:28:16.978Z,1628994496.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:28:16.979Z,1628994496.979 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:28:16.979Z,1628994496.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:28:17.369Z,1628994497.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
160,000,01584,186,80,80,51,FF
2021-08-15T02:28:17.369Z,1628994497.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:28:17.369Z,1628994497.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:28:17.371Z,1628994497.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:28:17.795Z,1628994497.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:28:18.614Z,1628994498.614 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022818.69*50

2021-08-15T02:28:19.405Z,1628994499.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,0479F,189,80,80,1E,FF
2021-08-15T02:28:19.406Z,1628994499.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:28:19.883Z,1628994499.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1062.599976 m, bearing: 188.312837 deg, deltaT: 5.528890 s, approachRate: 139.199738 m/s, LOS rate: 5.201614 deg/s, posRepo size: 3
2021-08-15T02:28:19.886Z,1628994499.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1062.599976 m,
      bearing: 188.312837 deg,
      approachRate: 139.199738 m/s,
      LOS rate: 5.201614 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 124.250562 deg,
      new cmd heading: 120.476858 deg.

2021-08-15T02:28:22.235Z,1628994502.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:28:22.644Z,1628994502.644 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:28:22.645Z,1628994502.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:28:22.645Z,1628994502.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:28:22.646Z,1628994502.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:28:23.030Z,1628994503.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,0479F,189,80,80,1E,FF
2021-08-15T02:28:23.030Z,1628994503.030 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:28:23.030Z,1628994503.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:28:23.032Z,1628994503.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:28:23.445Z,1628994503.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:28:24.261Z,1628994504.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34F,000,015EF,18A,80,80,6F,FF
2021-08-15T02:28:24.261Z,1628994504.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:28:24.264Z,1628994504.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022824.35*56

2021-08-15T02:28:24.706Z,1628994504.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 299.399994 m, bearing: 100.083534 deg, deltaT: 4.912980 s, approachRate: -155.343597 m/s, LOS rate: -17.958408 deg/s, posRepo size: 4
2021-08-15T02:28:24.707Z,1628994504.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.958408 deg/s. Setting heading cmd to target bearing of 100.083534deg and heading rate command to 0 deg/s.
2021-08-15T02:28:27.087Z,1628994507.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:28:27.477Z,1628994507.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:28:27.478Z,1628994507.478 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:28:27.478Z,1628994507.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:28:27.479Z,1628994507.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:28:27.905Z,1628994507.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34F,000,015EF,18A,80,80,6F,FF
2021-08-15T02:28:27.905Z,1628994507.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:28:27.905Z,1628994507.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:28:27.907Z,1628994507.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:28:28.294Z,1628994508.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:28:29.087Z,1628994509.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,01615,188,80,80,92,FF
2021-08-15T02:28:29.089Z,1628994509.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:28:29.095Z,1628994509.095 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022829.22*5D

2021-08-15T02:28:29.541Z,1628994509.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 301.679993 m, bearing: 116.098067 deg, deltaT: 4.822638 s, approachRate: 0.472770 m/s, LOS rate: 3.320700 deg/s, posRepo size: 4
2021-08-15T02:28:29.543Z,1628994509.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.679993 m,
      bearing: 116.098067 deg,
      approachRate: 0.472770 m/s,
      LOS rate: 3.320700 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 100.083534 deg,
      new cmd heading: 100.083534 deg.

2021-08-15T02:28:31.994Z,1628994511.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:28:32.317Z,1628994512.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:28:32.317Z,1628994512.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:28:32.317Z,1628994512.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:28:32.318Z,1628994512.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:28:32.721Z,1628994512.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22D,000,01615,188,80,80,92,FF
2021-08-15T02:28:32.721Z,1628994512.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:28:32.721Z,1628994512.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:28:32.723Z,1628994512.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:28:33.147Z,1628994513.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:28:33.974Z,1628994513.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022834.04*55

2021-08-15T02:28:34.742Z,1628994514.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,471,000,01615,188,80,80,92,FF
2021-08-15T02:28:34.742Z,1628994514.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:28:35.181Z,1628994515.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 301.679993 m, bearing: 90.479181 deg, deltaT: 5.681522 s, approachRate: 0.000000 m/s, LOS rate: -4.509159 deg/s, posRepo size: 4
2021-08-15T02:28:35.183Z,1628994515.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.679993 m,
      bearing: 90.479181 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.509159 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 168.211111 deg,
      new cmd heading: 172.389451 deg.

2021-08-15T02:28:37.602Z,1628994517.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:28:37.973Z,1628994517.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:28:37.973Z,1628994517.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:28:37.973Z,1628994517.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:28:37.974Z,1628994517.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:28:38.381Z,1628994518.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
471,000,01615,188,80,80,92,FF
2021-08-15T02:28:38.381Z,1628994518.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:28:38.381Z,1628994518.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:28:38.383Z,1628994518.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:28:38.793Z,1628994518.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:28:39.623Z,1628994519.623 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,352,000,0166D,188,80,80,92,FF
2021-08-15T02:28:39.623Z,1628994519.623 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:28:39.626Z,1628994519.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022839.70*5B

2021-08-15T02:28:40.063Z,1628994520.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 306.959991 m, bearing: 95.043687 deg, deltaT: 4.869170 s, approachRate: 1.084373 m/s, LOS rate: 0.937430 deg/s, posRepo size: 4
2021-08-15T02:28:40.065Z,1628994520.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 306.959991 m,
      bearing: 95.043687 deg,
      approachRate: 1.084373 m/s,
      LOS rate: 0.937430 deg/s,
      cmd update: 3.749720 deg/s,
      cmd heading: 109.808765 deg,
      new cmd heading: 105.448577 deg.

2021-08-15T02:28:42.435Z,1628994522.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:28:42.833Z,1628994522.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:28:42.833Z,1628994522.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:28:42.833Z,1628994522.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:28:42.834Z,1628994522.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:28:43.229Z,1628994523.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
352,000,0166D,188,80,80,92,FF
2021-08-15T02:28:43.229Z,1628994523.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:28:43.229Z,1628994523.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:28:43.231Z,1628994523.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:28:43.669Z,1628994523.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:28:44.462Z,1628994524.462 [Micromodem](INFO): Nmea in: $SNTTA,,0.243455,,,022844.55*49

2021-08-15T02:28:45.258Z,1628994525.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,048DD,188,80,80,92,FF
2021-08-15T02:28:45.258Z,1628994525.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:28:45.701Z,1628994525.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1081.680054 m, bearing: 152.595647 deg, deltaT: 5.571199 s, approachRate: 139.058060 m/s, LOS rate: 10.330264 deg/s, posRepo size: 4
2021-08-15T02:28:45.703Z,1628994525.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1081.680054 m,
      bearing: 152.595647 deg,
      approachRate: 139.058060 m/s,
      LOS rate: 10.330264 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 130.733508 deg,
      new cmd heading: 132.310633 deg.

2021-08-15T02:28:48.142Z,1628994528.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:28:48.477Z,1628994528.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:28:48.477Z,1628994528.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:28:48.477Z,1628994528.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:28:48.478Z,1628994528.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:28:48.897Z,1628994528.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,048DD,188,80,80,92,FF
2021-08-15T02:28:48.897Z,1628994528.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:28:48.897Z,1628994528.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:28:48.899Z,1628994528.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:28:49.293Z,1628994529.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:28:50.126Z,1628994530.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,368,000,016C6,188,80,80,8D,FF
2021-08-15T02:28:50.127Z,1628994530.127 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:28:50.132Z,1628994530.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022850.22*53

2021-08-15T02:28:50.540Z,1628994530.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 312.299988 m, bearing: 91.490534 deg, deltaT: 4.926441 s, approachRate: -156.173615 m/s, LOS rate: -12.403501 deg/s, posRepo size: 4
2021-08-15T02:28:50.541Z,1628994530.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.403501 deg/s. Setting heading cmd to target bearing of 91.490534deg and heading rate command to 0 deg/s.
2021-08-15T02:28:52.966Z,1628994532.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:28:53.325Z,1628994533.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:28:53.325Z,1628994533.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:28:53.326Z,1628994533.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:28:53.327Z,1628994533.327 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:28:53.734Z,1628994533.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
368,000,016C6,188,80,80,8D,FF
2021-08-15T02:28:53.734Z,1628994533.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:28:53.734Z,1628994533.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:28:53.735Z,1628994533.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:28:54.151Z,1628994534.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:28:54.977Z,1628994534.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C70,000,016F9,18B,80,80,25,FF
2021-08-15T02:28:54.978Z,1628994534.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:28:54.980Z,1628994534.980 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022855.05*53

2021-08-15T02:28:55.380Z,1628994535.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 315.359985 m, bearing: 199.576201 deg, deltaT: 4.798936 s, approachRate: 0.637641 m/s, LOS rate: 22.522839 deg/s, posRepo size: 4
2021-08-15T02:28:55.381Z,1628994535.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.522839 deg/s. Setting heading cmd to target bearing of 199.576201deg and heading rate command to 0 deg/s.
2021-08-15T02:28:57.875Z,1628994537.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:28:58.189Z,1628994538.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:28:58.189Z,1628994538.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:28:58.189Z,1628994538.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:28:58.190Z,1628994538.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:28:58.585Z,1628994538.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C70,000,016F9,18B,80,80,25,FF
2021-08-15T02:28:58.586Z,1628994538.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:28:58.586Z,1628994538.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:28:58.587Z,1628994538.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:28:58.985Z,1628994538.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:28:59.825Z,1628994539.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,01720,186,80,80,6F,FF
2021-08-15T02:28:59.826Z,1628994539.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:28:59.852Z,1628994539.852 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022859.90*53

2021-08-15T02:29:00.236Z,1628994540.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 317.699982 m, bearing: 189.411910 deg, deltaT: 4.968275 s, approachRate: 0.470988 m/s, LOS rate: -2.045839 deg/s, posRepo size: 4
2021-08-15T02:29:00.238Z,1628994540.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 317.699982 m,
      bearing: 189.411910 deg,
      approachRate: 0.470988 m/s,
      LOS rate: -2.045839 deg/s,
      cmd update: -8.183356 deg/s,
      cmd heading: 199.576201 deg,
      new cmd heading: 199.576201 deg.

2021-08-15T02:29:02.675Z,1628994542.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:29:03.025Z,1628994543.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:29:03.026Z,1628994543.026 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:29:03.026Z,1628994543.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:29:03.027Z,1628994543.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:29:03.425Z,1628994543.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,01720,186,80,80,6F,FF
2021-08-15T02:29:03.425Z,1628994543.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:29:03.425Z,1628994543.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:29:03.427Z,1628994543.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:29:03.879Z,1628994543.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:29:04.640Z,1628994544.640 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,01CF6,185,80,80,54,FF
2021-08-15T02:29:04.642Z,1628994544.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:29:05.081Z,1628994545.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 407.339966 m, bearing: 185.503676 deg, deltaT: 4.733610 s, approachRate: 18.936918 m/s, LOS rate: -0.825635 deg/s, posRepo size: 4
2021-08-15T02:29:05.083Z,1628994545.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 407.339966 m,
      bearing: 185.503676 deg,
      approachRate: 18.936918 m/s,
      LOS rate: -0.825635 deg/s,
      cmd update: -3.302540 deg/s,
      cmd heading: 160.824204 deg,
      new cmd heading: 157.712049 deg.

2021-08-15T02:29:07.494Z,1628994547.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:29:07.905Z,1628994547.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:29:07.905Z,1628994547.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:29:07.905Z,1628994547.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:29:07.906Z,1628994547.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:29:08.277Z,1628994548.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,01CF6,185,80,80,54,FF
2021-08-15T02:29:08.277Z,1628994548.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:29:08.277Z,1628994548.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:29:08.279Z,1628994548.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:29:08.709Z,1628994548.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:29:09.514Z,1628994549.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022909.60*58

2021-08-15T02:29:10.342Z,1628994550.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:29:10.717Z,1628994550.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,04994,186,80,80,63,FF
2021-08-15T02:29:10.717Z,1628994550.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:29:11.134Z,1628994551.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1092.660034 m, bearing: 195.740476 deg, deltaT: 6.055541 s, approachRate: 113.172394 m/s, LOS rate: 1.690485 deg/s, posRepo size: 4
2021-08-15T02:29:11.137Z,1628994551.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1092.660034 m,
      bearing: 195.740476 deg,
      approachRate: 113.172394 m/s,
      LOS rate: 1.690485 deg/s,
      cmd update: 6.761940 deg/s,
      cmd heading: 140.798295 deg,
      new cmd heading: 139.581391 deg.

2021-08-15T02:29:13.543Z,1628994553.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:29:13.929Z,1628994553.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:29:13.929Z,1628994553.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:29:13.929Z,1628994553.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:29:13.930Z,1628994553.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:29:14.337Z,1628994554.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,04994,186,80,80,63,FF
2021-08-15T02:29:14.338Z,1628994554.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:29:14.338Z,1628994554.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:29:14.339Z,1628994554.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:29:14.741Z,1628994554.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:29:15.566Z,1628994555.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022915.66*53

2021-08-15T02:29:16.387Z,1628994556.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:29:17.969Z,1628994557.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,63,FF
2021-08-15T02:29:17.969Z,1628994557.969 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,63,FF
2021-08-15T02:29:17.969Z,1628994557.969 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:29:19.213Z,1628994559.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:29:19.597Z,1628994559.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:29:19.597Z,1628994559.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:29:19.597Z,1628994559.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:29:19.598Z,1628994559.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:29:19.991Z,1628994559.991 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,63,FF
2021-08-15T02:29:19.991Z,1628994559.991 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:29:19.991Z,1628994559.991 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:29:19.993Z,1628994559.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:29:20.401Z,1628994560.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:29:21.225Z,1628994561.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,01802,186,80,80,42,FF
2021-08-15T02:29:21.225Z,1628994561.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:29:21.245Z,1628994561.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022921.31*56

2021-08-15T02:29:21.694Z,1628994561.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 331.259979 m, bearing: 183.654757 deg, deltaT: 10.515998 s, approachRate: -72.403969 m/s, LOS rate: -1.149270 deg/s, posRepo size: 4
2021-08-15T02:29:21.702Z,1628994561.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 331.259979 m,
      bearing: 183.654757 deg,
      approachRate: -72.403969 m/s,
      LOS rate: -1.149270 deg/s,
      cmd update: -4.597079 deg/s,
      cmd heading: 211.830295 deg,
      new cmd heading: 214.705938 deg.

2021-08-15T02:29:24.094Z,1628994564.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:29:24.445Z,1628994564.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:29:24.445Z,1628994564.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:29:24.445Z,1628994564.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:29:24.446Z,1628994564.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:29:24.845Z,1628994564.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,01802,186,80,80,42,FF
2021-08-15T02:29:24.846Z,1628994564.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:29:24.846Z,1628994564.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:29:24.847Z,1628994564.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:29:25.260Z,1628994565.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:29:26.082Z,1628994566.082 [Micromodem](INFO): Nmea in: $SNTTA,,0.391665,,,022926.17*45

2021-08-15T02:29:26.908Z,1628994566.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:29:28.489Z,1628994568.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,42,FF
2021-08-15T02:29:28.489Z,1628994568.489 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,42,FF
2021-08-15T02:29:28.490Z,1628994568.490 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:29:29.749Z,1628994569.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:29:30.101Z,1628994570.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:29:30.101Z,1628994570.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:29:30.102Z,1628994570.102 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:29:30.103Z,1628994570.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:29:30.498Z,1628994570.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,42,FF
2021-08-15T02:29:30.499Z,1628994570.499 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:29:30.499Z,1628994570.499 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:29:30.500Z,1628994570.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:29:30.924Z,1628994570.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:29:31.734Z,1628994571.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,01875,184,80,80,51,FF
2021-08-15T02:29:31.734Z,1628994571.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:29:31.737Z,1628994571.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022931.82*5F

2021-08-15T02:29:32.183Z,1628994572.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 338.160004 m, bearing: 201.962779 deg, deltaT: 10.525041 s, approachRate: 0.655582 m/s, LOS rate: 1.739473 deg/s, posRepo size: 4
2021-08-15T02:29:32.185Z,1628994572.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 338.160004 m,
      bearing: 201.962779 deg,
      approachRate: 0.655582 m/s,
      LOS rate: 1.739473 deg/s,
      cmd update: 6.957891 deg/s,
      cmd heading: 163.435866 deg,
      new cmd heading: 161.658612 deg.

2021-08-15T02:29:34.575Z,1628994574.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:29:34.950Z,1628994574.950 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:29:34.950Z,1628994574.950 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:29:34.950Z,1628994574.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:29:34.952Z,1628994574.952 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:29:35.345Z,1628994575.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,01875,184,80,80,51,FF
2021-08-15T02:29:35.345Z,1628994575.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:29:35.345Z,1628994575.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:29:35.347Z,1628994575.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:29:35.798Z,1628994575.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:29:36.159Z,1628994576.159 [Micromodem](INFO): Nmea in: $SNTTA,0.184616,0.144989,,,022936.66*57

2021-08-15T02:29:37.420Z,1628994577.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:29:38.982Z,1628994578.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,184,80,80,51,FF
2021-08-15T02:29:38.982Z,1628994578.982 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,184,80,80,51,FF
2021-08-15T02:29:38.983Z,1628994578.983 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:29:40.244Z,1628994580.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:29:40.602Z,1628994580.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:29:40.602Z,1628994580.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:29:40.602Z,1628994580.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:29:40.603Z,1628994580.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:29:41.001Z,1628994581.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,184,80,80,51,FF
2021-08-15T02:29:41.001Z,1628994581.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:29:41.001Z,1628994581.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:29:41.003Z,1628994581.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:29:41.423Z,1628994581.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:29:41.852Z,1628994581.852 [Micromodem](INFO): Nmea in: $SNTTA,0.314603,0.315097,,,022942.32*5A

2021-08-15T02:29:42.235Z,1628994582.235 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E09,000,018DE,187,80,80,66,FF
2021-08-15T02:29:42.236Z,1628994582.236 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:29:42.703Z,1628994582.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 344.460022 m, bearing: 216.247273 deg, deltaT: 10.462031 s, approachRate: 0.602179 m/s, LOS rate: 1.365365 deg/s, posRepo size: 4
2021-08-15T02:29:42.709Z,1628994582.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.460022 m,
      bearing: 216.247273 deg,
      approachRate: 0.602179 m/s,
      LOS rate: 1.365365 deg/s,
      cmd update: 5.461461 deg/s,
      cmd heading: 236.271302 deg,
      new cmd heading: 239.322824 deg.

2021-08-15T02:29:45.087Z,1628994585.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:29:45.457Z,1628994585.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:29:45.458Z,1628994585.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:29:45.458Z,1628994585.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:29:45.459Z,1628994585.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:29:45.905Z,1628994585.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E09,000,018DE,187,80,80,66,FF
2021-08-15T02:29:45.905Z,1628994585.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:29:45.905Z,1628994585.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:29:45.907Z,1628994585.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:29:46.291Z,1628994586.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:29:47.120Z,1628994587.120 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,01912,186,80,80,69,FF
2021-08-15T02:29:47.121Z,1628994587.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:29:47.126Z,1628994587.126 [Micromodem](INFO): Nmea in: $SNTTA,0.234000,,,,022947.23*4E

2021-08-15T02:29:47.534Z,1628994587.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 347.579987 m, bearing: 223.292339 deg, deltaT: 4.903973 s, approachRate: 0.636212 m/s, LOS rate: 1.436604 deg/s, posRepo size: 4
2021-08-15T02:29:47.537Z,1628994587.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.579987 m,
      bearing: 223.292339 deg,
      approachRate: 0.636212 m/s,
      LOS rate: 1.436604 deg/s,
      cmd update: 5.746416 deg/s,
      cmd heading: 263.048720 deg,
      new cmd heading: 265.053693 deg.

2021-08-15T02:29:49.989Z,1628994589.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:29:50.317Z,1628994590.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:29:50.317Z,1628994590.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:29:50.318Z,1628994590.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:29:50.319Z,1628994590.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:29:50.726Z,1628994590.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED5,000,01912,186,80,80,69,FF
2021-08-15T02:29:50.726Z,1628994590.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:29:50.726Z,1628994590.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:29:50.728Z,1628994590.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:29:51.153Z,1628994591.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:29:51.971Z,1628994591.971 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,01938,187,80,80,60,FF
2021-08-15T02:29:51.971Z,1628994591.971 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:29:51.976Z,1628994591.976 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022952.05*55

2021-08-15T02:29:52.401Z,1628994592.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 349.860016 m, bearing: 220.370125 deg, deltaT: 4.913899 s, approachRate: 0.463996 m/s, LOS rate: -0.594683 deg/s, posRepo size: 4
2021-08-15T02:29:52.403Z,1628994592.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 349.860016 m,
      bearing: 220.370125 deg,
      approachRate: 0.463996 m/s,
      LOS rate: -0.594683 deg/s,
      cmd update: -2.378734 deg/s,
      cmd heading: 291.262748 deg,
      new cmd heading: 293.121041 deg.

2021-08-15T02:29:54.809Z,1628994594.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:29:55.181Z,1628994595.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:29:55.181Z,1628994595.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:29:55.181Z,1628994595.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:29:55.182Z,1628994595.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:29:55.578Z,1628994595.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,01938,187,80,80,60,FF
2021-08-15T02:29:55.578Z,1628994595.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:29:55.578Z,1628994595.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:29:55.580Z,1628994595.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:29:55.989Z,1628994595.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:29:56.813Z,1628994596.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C8,000,014D4,189,80,80,66,FF
2021-08-15T02:29:56.813Z,1628994596.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:29:56.816Z,1628994596.816 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022956.90*5D

2021-08-15T02:29:57.237Z,1628994597.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 282.420013 m, bearing: 213.799346 deg, deltaT: 4.813468 s, approachRate: -14.010689 m/s, LOS rate: -1.365082 deg/s, posRepo size: 4
2021-08-15T02:29:57.239Z,1628994597.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.420013 m,
      bearing: 213.799346 deg,
      approachRate: -14.010689 m/s,
      LOS rate: -1.365082 deg/s,
      cmd update: -5.460328 deg/s,
      cmd heading: 279.828048 deg,
      new cmd heading: 278.989178 deg.

2021-08-15T02:29:59.674Z,1628994599.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:30:00.027Z,1628994600.027 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:30:00.027Z,1628994600.027 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:30:00.029Z,1628994600.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:30:00.030Z,1628994600.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:30:00.421Z,1628994600.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C8,000,014D4,189,80,80,66,FF
2021-08-15T02:30:00.421Z,1628994600.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:30:00.421Z,1628994600.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:30:00.423Z,1628994600.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:30:00.884Z,1628994600.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:30:01.703Z,1628994601.703 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E12,000,0195C,186,80,80,86,FF
2021-08-15T02:30:01.703Z,1628994601.703 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:30:01.707Z,1628994601.707 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023001.74*5D

2021-08-15T02:30:02.107Z,1628994602.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 352.019989 m, bearing: 294.880221 deg, deltaT: 4.895624 s, approachRate: 14.216773 m/s, LOS rate: 16.561908 deg/s, posRepo size: 4
2021-08-15T02:30:02.112Z,1628994602.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.561908 deg/s. Setting heading cmd to target bearing of 294.880221deg and heading rate command to 0 deg/s.
2021-08-15T02:30:04.483Z,1628994604.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:30:04.874Z,1628994604.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:30:04.874Z,1628994604.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:30:04.874Z,1628994604.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:30:04.875Z,1628994604.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:30:05.269Z,1628994605.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E12,000,0195C,186,80,80,86,FF
2021-08-15T02:30:05.269Z,1628994605.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:30:05.270Z,1628994605.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:30:05.271Z,1628994605.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:30:05.705Z,1628994605.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:30:06.501Z,1628994606.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCE,000,0195D,188,80,80,7F,FF
2021-08-15T02:30:06.501Z,1628994606.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:30:06.504Z,1628994606.504 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023006.59*55

2021-08-15T02:30:06.927Z,1628994606.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 352.079987 m, bearing: 301.459825 deg, deltaT: 4.725584 s, approachRate: 0.012696 m/s, LOS rate: 1.392337 deg/s, posRepo size: 4
2021-08-15T02:30:06.929Z,1628994606.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.079987 m,
      bearing: 301.459825 deg,
      approachRate: 0.012696 m/s,
      LOS rate: 1.392337 deg/s,
      cmd update: 5.569346 deg/s,
      cmd heading: 294.880221 deg,
      new cmd heading: 294.880221 deg.

2021-08-15T02:30:09.350Z,1628994609.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:30:09.713Z,1628994609.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:30:09.713Z,1628994609.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:30:09.714Z,1628994609.714 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:30:09.715Z,1628994609.715 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:30:10.126Z,1628994610.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCE,000,0195D,188,80,80,7F,FF
2021-08-15T02:30:10.126Z,1628994610.126 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:30:10.126Z,1628994610.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:30:10.129Z,1628994610.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:30:10.525Z,1628994610.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:30:11.349Z,1628994611.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,0195A,188,80,80,92,FF
2021-08-15T02:30:11.350Z,1628994611.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:30:11.353Z,1628994611.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023011.45*5E

2021-08-15T02:30:11.772Z,1628994611.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 351.900024 m, bearing: 309.187391 deg, deltaT: 4.869448 s, approachRate: -0.036957 m/s, LOS rate: 1.586949 deg/s, posRepo size: 4
2021-08-15T02:30:11.774Z,1628994611.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 351.900024 m,
      bearing: 309.187391 deg,
      approachRate: -0.036957 m/s,
      LOS rate: 1.586949 deg/s,
      cmd update: 6.347797 deg/s,
      cmd heading: 321.886214 deg,
      new cmd heading: 324.131880 deg.

2021-08-15T02:30:14.218Z,1628994614.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:30:14.569Z,1628994614.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:30:14.569Z,1628994614.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:30:14.569Z,1628994614.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:30:14.570Z,1628994614.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:30:14.969Z,1628994614.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,0195A,188,80,80,92,FF
2021-08-15T02:30:14.970Z,1628994614.970 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:30:14.970Z,1628994614.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:30:14.971Z,1628994614.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:30:15.384Z,1628994615.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:30:17.025Z,1628994617.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:30:18.613Z,1628994618.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,188,80,80,92,FF
2021-08-15T02:30:18.613Z,1628994618.613 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,188,80,80,92,FF
2021-08-15T02:30:18.614Z,1628994618.614 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:30:19.887Z,1628994619.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:30:20.229Z,1628994620.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:30:20.229Z,1628994620.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:30:20.229Z,1628994620.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:30:20.229Z,1628994620.229 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:30:20.621Z,1628994620.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,188,80,80,92,FF
2021-08-15T02:30:20.621Z,1628994620.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:30:20.621Z,1628994620.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:30:20.626Z,1628994620.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:30:21.033Z,1628994621.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:30:21.881Z,1628994621.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D26,000,01921,189,80,80,6C,FF
2021-08-15T02:30:21.882Z,1628994621.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:30:21.884Z,1628994621.884 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023021.95*50

2021-08-15T02:30:22.264Z,1628994622.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 348.479980 m, bearing: 359.638474 deg, deltaT: 10.589589 s, approachRate: -0.322963 m/s, LOS rate: 4.764215 deg/s, posRepo size: 4
2021-08-15T02:30:22.266Z,1628994622.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.479980 m,
      bearing: 359.638474 deg,
      approachRate: -0.322963 m/s,
      LOS rate: 4.764215 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 29.207665 deg,
      new cmd heading: 31.043969 deg.

2021-08-15T02:30:24.714Z,1628994624.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:30:25.065Z,1628994625.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:30:25.065Z,1628994625.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:30:25.065Z,1628994625.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:30:25.066Z,1628994625.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:30:25.469Z,1628994625.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D26,000,01921,189,80,80,6C,FF
2021-08-15T02:30:25.469Z,1628994625.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:30:25.469Z,1628994625.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:30:25.471Z,1628994625.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:30:25.908Z,1628994625.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:30:26.713Z,1628994626.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD1,000,018F9,189,80,80,7A,FF
2021-08-15T02:30:26.713Z,1628994626.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:30:26.717Z,1628994626.717 [Micromodem](INFO): Nmea in: $SNTTA,,0.121046,,,023026.79*4B

2021-08-15T02:30:27.154Z,1628994627.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 346.079987 m, bearing: 12.449213 deg, deltaT: 4.807395 s, approachRate: -0.499230 m/s, LOS rate: 2.664800 deg/s, posRepo size: 4
2021-08-15T02:30:27.161Z,1628994627.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 346.079987 m,
      bearing: 12.449213 deg,
      approachRate: -0.499230 m/s,
      LOS rate: 2.664800 deg/s,
      cmd update: 10.659201 deg/s,
      cmd heading: 86.902815 deg,
      new cmd heading: 91.364451 deg.

2021-08-15T02:30:29.527Z,1628994629.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:30:29.921Z,1628994629.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:30:29.921Z,1628994629.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:30:29.922Z,1628994629.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:30:29.922Z,1628994629.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:30:30.321Z,1628994630.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD1,000,018F9,189,80,80,7A,FF
2021-08-15T02:30:30.321Z,1628994630.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:30:30.322Z,1628994630.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:30:30.323Z,1628994630.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:30:30.725Z,1628994630.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:30:31.553Z,1628994631.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,018C5,185,80,80,6F,FF
2021-08-15T02:30:31.553Z,1628994631.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:30:31.557Z,1628994631.557 [Micromodem](INFO): Nmea in: $SNTTA,0.230555,,,,023031.64*45

2021-08-15T02:30:32.023Z,1628994632.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 342.959991 m, bearing: 5.190634 deg, deltaT: 4.838621 s, approachRate: -0.644811 m/s, LOS rate: -1.500134 deg/s, posRepo size: 4
2021-08-15T02:30:32.030Z,1628994632.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 342.959991 m,
      bearing: 5.190634 deg,
      approachRate: -0.644811 m/s,
      LOS rate: -1.500134 deg/s,
      cmd update: -6.000535 deg/s,
      cmd heading: 137.960419 deg,
      new cmd heading: 142.768433 deg.

2021-08-15T02:30:34.391Z,1628994634.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:30:34.769Z,1628994634.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:30:34.769Z,1628994634.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:30:34.769Z,1628994634.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:30:34.770Z,1628994634.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:30:35.177Z,1628994635.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,018C5,185,80,80,6F,FF
2021-08-15T02:30:35.177Z,1628994635.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:30:35.177Z,1628994635.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:30:35.179Z,1628994635.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:30:35.572Z,1628994635.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:30:36.401Z,1628994636.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BE,000,01890,186,80,80,6B,FF
2021-08-15T02:30:36.401Z,1628994636.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:30:36.404Z,1628994636.404 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023036.50*5F

2021-08-15T02:30:36.802Z,1628994636.802 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:30:36.831Z,1628994636.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 339.779999 m, bearing: 0.377612 deg, deltaT: 4.794670 s, approachRate: -0.663235 m/s, LOS rate: -1.003828 deg/s, posRepo size: 4
2021-08-15T02:30:36.833Z,1628994636.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.779999 m,
      bearing: 0.377612 deg,
      approachRate: -0.663235 m/s,
      LOS rate: -1.003828 deg/s,
      cmd update: -4.015311 deg/s,
      cmd heading: 108.874145 deg,
      new cmd heading: 106.405393 deg.

2021-08-15T02:30:39.231Z,1628994639.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:30:39.613Z,1628994639.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:30:39.613Z,1628994639.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:30:39.613Z,1628994639.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:30:39.614Z,1628994639.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:30:40.029Z,1628994640.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BE,000,01890,186,80,80,6B,FF
2021-08-15T02:30:40.029Z,1628994640.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:30:40.029Z,1628994640.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:30:40.031Z,1628994640.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:30:40.434Z,1628994640.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:30:41.249Z,1628994641.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BD,000,0186A,188,80,80,7A,FF
2021-08-15T02:30:41.250Z,1628994641.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:30:41.276Z,1628994641.276 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023041.35*5C

2021-08-15T02:30:41.697Z,1628994641.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 337.500000 m, bearing: 355.878237 deg, deltaT: 4.877021 s, approachRate: -0.467498 m/s, LOS rate: -0.922564 deg/s, posRepo size: 4
2021-08-15T02:30:41.699Z,1628994641.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.500000 m,
      bearing: 355.878237 deg,
      approachRate: -0.467498 m/s,
      LOS rate: -0.922564 deg/s,
      cmd update: -3.690256 deg/s,
      cmd heading: 89.308227 deg,
      new cmd heading: 87.682480 deg.

2021-08-15T02:30:44.101Z,1628994644.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:30:44.453Z,1628994644.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:30:44.453Z,1628994644.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:30:44.453Z,1628994644.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:30:44.454Z,1628994644.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:30:44.866Z,1628994644.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BD,000,0186A,188,80,80,7A,FF
2021-08-15T02:30:44.866Z,1628994644.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:30:44.866Z,1628994644.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:30:44.868Z,1628994644.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:30:45.265Z,1628994645.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:30:46.093Z,1628994646.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01841,18A,80,80,AF,FF
2021-08-15T02:30:46.093Z,1628994646.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:30:46.096Z,1628994646.096 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023046.19*55

2021-08-15T02:30:46.520Z,1628994646.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 335.039978 m, bearing: 358.479255 deg, deltaT: 4.890737 s, approachRate: -0.502996 m/s, LOS rate: 0.531825 deg/s, posRepo size: 4
2021-08-15T02:30:46.522Z,1628994646.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 335.039978 m,
      bearing: 358.479255 deg,
      approachRate: -0.502996 m/s,
      LOS rate: 0.531825 deg/s,
      cmd update: 2.127301 deg/s,
      cmd heading: 71.259671 deg,
      new cmd heading: 70.018951 deg.

2021-08-15T02:30:48.929Z,1628994648.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:30:49.305Z,1628994649.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:30:49.305Z,1628994649.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:30:49.305Z,1628994649.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:30:49.306Z,1628994649.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:30:49.713Z,1628994649.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01841,18A,80,80,AF,FF
2021-08-15T02:30:49.713Z,1628994649.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:30:49.713Z,1628994649.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:30:49.715Z,1628994649.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:30:50.118Z,1628994650.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:30:50.949Z,1628994650.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5C,000,01827,188,80,80,87,FF
2021-08-15T02:30:50.949Z,1628994650.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:30:50.952Z,1628994650.952 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023051.03*58

2021-08-15T02:30:51.382Z,1628994651.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 333.479980 m, bearing: 111.777603 deg, deltaT: 4.791892 s, approachRate: -0.325549 m/s, LOS rate: 23.643760 deg/s, posRepo size: 4
2021-08-15T02:30:51.382Z,1628994651.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.643760 deg/s. Setting heading cmd to target bearing of 111.777603deg and heading rate command to 0 deg/s.
2021-08-15T02:30:53.799Z,1628994653.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:30:54.157Z,1628994654.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:30:54.157Z,1628994654.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:30:54.157Z,1628994654.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:30:54.158Z,1628994654.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:30:54.565Z,1628994654.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5C,000,01827,188,80,80,87,FF
2021-08-15T02:30:54.565Z,1628994654.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:30:54.565Z,1628994654.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:30:54.567Z,1628994654.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:30:54.965Z,1628994654.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:30:55.797Z,1628994655.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0181E,189,80,80,9F,FF
2021-08-15T02:30:55.797Z,1628994655.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:30:55.802Z,1628994655.802 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023055.89*5E

2021-08-15T02:30:56.272Z,1628994656.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 332.940002 m, bearing: 27.772925 deg, deltaT: 4.943005 s, approachRate: -0.109241 m/s, LOS rate: -16.994656 deg/s, posRepo size: 4
2021-08-15T02:30:56.273Z,1628994656.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.994656 deg/s. Setting heading cmd to target bearing of 27.772925deg and heading rate command to 0 deg/s.
2021-08-15T02:30:56.687Z,1628994656.687 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T02:30:57.875Z,1628994657.875 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T02:30:58.720Z,1628994658.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:30:59.041Z,1628994659.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:30:59.041Z,1628994659.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:30:59.041Z,1628994659.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:30:59.042Z,1628994659.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:30:59.453Z,1628994659.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0181E,189,80,80,9F,FF
2021-08-15T02:30:59.453Z,1628994659.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:30:59.453Z,1628994659.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:30:59.455Z,1628994659.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:30:59.892Z,1628994659.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:31:00.697Z,1628994660.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D45,000,01826,18A,80,80,20,FF
2021-08-15T02:31:00.697Z,1628994660.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:31:00.700Z,1628994660.700 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023100.78*51

2021-08-15T02:31:01.097Z,1628994661.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 333.419983 m, bearing: 141.117664 deg, deltaT: 4.854266 s, approachRate: 0.098878 m/s, LOS rate: 23.349511 deg/s, posRepo size: 4
2021-08-15T02:31:01.098Z,1628994661.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.349511 deg/s. Setting heading cmd to target bearing of 141.117664deg and heading rate command to 0 deg/s.
2021-08-15T02:31:01.942Z,1628994661.942 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:31:03.518Z,1628994663.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:31:03.917Z,1628994663.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:31:03.917Z,1628994663.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:31:03.917Z,1628994663.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:31:03.918Z,1628994663.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:31:04.305Z,1628994664.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D45,000,01826,18A,80,80,20,FF
2021-08-15T02:31:04.305Z,1628994664.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:31:04.305Z,1628994664.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:31:04.307Z,1628994664.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:31:04.712Z,1628994664.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:31:05.530Z,1628994665.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01829,189,80,80,67,FF
2021-08-15T02:31:05.530Z,1628994665.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:31:05.533Z,1628994665.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023105.63*5E

2021-08-15T02:31:06.011Z,1628994666.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 333.600006 m, bearing: 32.497255 deg, deltaT: 4.777622 s, approachRate: 0.037681 m/s, LOS rate: -22.735246 deg/s, posRepo size: 4
2021-08-15T02:31:06.011Z,1628994666.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.735246 deg/s. Setting heading cmd to target bearing of 32.497255deg and heading rate command to 0 deg/s.
2021-08-15T02:31:06.771Z,1628994666.771 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T02:31:08.382Z,1628994668.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:31:08.737Z,1628994668.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:31:08.737Z,1628994668.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:31:08.738Z,1628994668.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:31:08.738Z,1628994668.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:31:09.158Z,1628994669.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01829,189,80,80,67,FF
2021-08-15T02:31:09.158Z,1628994669.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:31:09.159Z,1628994669.159 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:31:09.161Z,1628994669.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:31:09.553Z,1628994669.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:31:10.369Z,1628994670.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39E,000,01828,18A,80,80,76,FF
2021-08-15T02:31:10.369Z,1628994670.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:31:10.377Z,1628994670.377 [Micromodem](INFO): Nmea in: $SNTTA,0.224742,,,,023110.48*48

2021-08-15T02:31:10.954Z,1628994670.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 333.540009 m, bearing: 38.717938 deg, deltaT: 4.867260 s, approachRate: -0.012327 m/s, LOS rate: 1.278067 deg/s, posRepo size: 4
2021-08-15T02:31:10.956Z,1628994670.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 333.540009 m,
      bearing: 38.717938 deg,
      approachRate: -0.012327 m/s,
      LOS rate: 1.278067 deg/s,
      cmd update: 5.112267 deg/s,
      cmd heading: 32.497255 deg,
      new cmd heading: 32.497255 deg.

2021-08-15T02:31:12.807Z,1628994672.807 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:31:13.227Z,1628994673.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:31:13.601Z,1628994673.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:31:13.601Z,1628994673.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:31:13.602Z,1628994673.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:31:13.603Z,1628994673.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:31:13.994Z,1628994673.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39E,000,01828,18A,80,80,76,FF
2021-08-15T02:31:13.994Z,1628994673.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:31:13.995Z,1628994673.995 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:31:13.999Z,1628994673.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:31:14.408Z,1628994674.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:31:15.233Z,1628994675.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37D,000,01821,189,80,80,7E,FF
2021-08-15T02:31:15.233Z,1628994675.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:31:15.236Z,1628994675.236 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023115.32*5B

2021-08-15T02:31:15.707Z,1628994675.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 333.119995 m, bearing: 35.480090 deg, deltaT: 4.831519 s, approachRate: -0.086932 m/s, LOS rate: -0.670151 deg/s, posRepo size: 4
2021-08-15T02:31:15.717Z,1628994675.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 333.119995 m,
      bearing: 35.480090 deg,
      approachRate: -0.086932 m/s,
      LOS rate: -0.670151 deg/s,
      cmd update: -2.680604 deg/s,
      cmd heading: 57.260397 deg,
      new cmd heading: 59.583821 deg.

2021-08-15T02:31:16.848Z,1628994676.848 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T02:31:18.122Z,1628994678.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:31:18.437Z,1628994678.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:31:18.437Z,1628994678.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:31:18.437Z,1628994678.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:31:18.438Z,1628994678.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:31:18.845Z,1628994678.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37D,000,01821,189,80,80,7E,FF
2021-08-15T02:31:18.845Z,1628994678.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:31:18.846Z,1628994678.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:31:18.847Z,1628994678.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:31:19.248Z,1628994679.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:31:20.077Z,1628994680.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0180C,189,80,80,AA,FF
2021-08-15T02:31:20.078Z,1628994680.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:31:20.081Z,1628994680.081 [Micromodem](INFO): Nmea in: $SNTTA,,0.391630,,,023120.17*4A

2021-08-15T02:31:20.543Z,1628994680.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 331.859985 m, bearing: 359.775515 deg, deltaT: 4.922561 s, approachRate: -0.255966 m/s, LOS rate: -7.253254 deg/s, posRepo size: 4
2021-08-15T02:31:20.546Z,1628994680.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 331.859985 m,
      bearing: 359.775515 deg,
      approachRate: -0.255966 m/s,
      LOS rate: -7.253254 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 44.074955 deg,
      new cmd heading: 43.082238 deg.

2021-08-15T02:31:22.918Z,1628994682.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:31:23.285Z,1628994683.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:31:23.285Z,1628994683.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:31:23.285Z,1628994683.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:31:23.286Z,1628994683.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:31:23.709Z,1628994683.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0180C,189,80,80,AA,FF
2021-08-15T02:31:23.709Z,1628994683.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:31:23.709Z,1628994683.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:31:23.711Z,1628994683.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:31:24.110Z,1628994684.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:31:24.936Z,1628994684.936 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,43D,000,017F0,189,80,80,A1,FF
2021-08-15T02:31:24.937Z,1628994684.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:31:24.940Z,1628994684.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023125.03*5A

2021-08-15T02:31:25.344Z,1628994685.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 330.179993 m, bearing: 355.534460 deg, deltaT: 4.790149 s, approachRate: -0.350718 m/s, LOS rate: -0.885370 deg/s, posRepo size: 4
2021-08-15T02:31:25.346Z,1628994685.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 330.179993 m,
      bearing: 355.534460 deg,
      approachRate: -0.350718 m/s,
      LOS rate: -0.885370 deg/s,
      cmd update: -3.541481 deg/s,
      cmd heading: 346.545357 deg,
      new cmd heading: 342.009729 deg.

2021-08-15T02:31:27.780Z,1628994687.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:31:28.150Z,1628994688.150 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:31:28.150Z,1628994688.150 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:31:28.150Z,1628994688.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:31:28.151Z,1628994688.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:31:28.557Z,1628994688.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
43D,000,017F0,189,80,80,A1,FF
2021-08-15T02:31:28.557Z,1628994688.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:31:28.557Z,1628994688.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:31:28.559Z,1628994688.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:31:28.953Z,1628994688.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:31:29.773Z,1628994689.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E1,000,017CB,189,80,80,9D,FF
2021-08-15T02:31:29.774Z,1628994689.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:31:29.807Z,1628994689.807 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023129.88*55

2021-08-15T02:31:30.220Z,1628994690.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 327.959991 m, bearing: 355.152106 deg, deltaT: 4.937028 s, approachRate: -0.449663 m/s, LOS rate: -0.077446 deg/s, posRepo size: 4
2021-08-15T02:31:30.222Z,1628994690.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 327.959991 m,
      bearing: 355.152106 deg,
      approachRate: -0.449663 m/s,
      LOS rate: -0.077446 deg/s,
      cmd update: -0.309785 deg/s,
      cmd heading: 329.082734 deg,
      new cmd heading: 327.936445 deg.

2021-08-15T02:31:32.611Z,1628994692.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:31:32.997Z,1628994692.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:31:32.997Z,1628994692.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:31:32.997Z,1628994692.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:31:32.998Z,1628994692.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:31:33.397Z,1628994693.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E1,000,017CB,189,80,80,9D,FF
2021-08-15T02:31:33.397Z,1628994693.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:31:33.397Z,1628994693.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:31:33.399Z,1628994693.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:31:33.804Z,1628994693.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:31:34.645Z,1628994694.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,01793,186,80,80,9A,FF
2021-08-15T02:31:34.646Z,1628994694.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:31:34.676Z,1628994694.676 [Micromodem](INFO): Nmea in: $SNTTA,,0.117429,,,023134.72*4A

2021-08-15T02:31:35.045Z,1628994695.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 324.600006 m, bearing: 359.382178 deg, deltaT: 4.829145 s, approachRate: -0.695772 m/s, LOS rate: 0.875947 deg/s, posRepo size: 4
2021-08-15T02:31:35.047Z,1628994695.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 324.600006 m,
      bearing: 359.382178 deg,
      approachRate: -0.695772 m/s,
      LOS rate: 0.875947 deg/s,
      cmd update: 3.503786 deg/s,
      cmd heading: 327.586061 deg,
      new cmd heading: 327.487951 deg.

2021-08-15T02:31:37.462Z,1628994697.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:31:37.852Z,1628994697.852 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:31:37.853Z,1628994697.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:31:37.853Z,1628994697.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:31:37.854Z,1628994697.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:31:38.241Z,1628994698.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12E,000,01793,186,80,80,9A,FF
2021-08-15T02:31:38.241Z,1628994698.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:31:38.241Z,1628994698.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:31:38.243Z,1628994698.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:31:38.674Z,1628994698.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:31:39.481Z,1628994699.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,0175F,186,80,80,A8,FF
2021-08-15T02:31:39.481Z,1628994699.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:31:39.484Z,1628994699.484 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023139.56*57

2021-08-15T02:31:39.960Z,1628994699.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 321.479980 m, bearing: 1.070764 deg, deltaT: 4.808124 s, approachRate: -0.648907 m/s, LOS rate: 0.351192 deg/s, posRepo size: 4
2021-08-15T02:31:39.962Z,1628994699.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 321.479980 m,
      bearing: 1.070764 deg,
      approachRate: -0.648907 m/s,
      LOS rate: 0.351192 deg/s,
      cmd update: 1.404770 deg/s,
      cmd heading: 344.432538 deg,
      new cmd heading: 345.916846 deg.

2021-08-15T02:31:42.315Z,1628994702.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:31:42.707Z,1628994702.707 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:31:42.707Z,1628994702.707 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:31:42.708Z,1628994702.708 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:31:42.709Z,1628994702.709 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:31:43.093Z,1628994703.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,0175F,186,80,80,A8,FF
2021-08-15T02:31:43.093Z,1628994703.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:31:43.093Z,1628994703.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:31:43.095Z,1628994703.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:31:43.496Z,1628994703.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:31:43.918Z,1628994703.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,0075F,186,80,80,A8,FF
2021-08-15T02:31:43.918Z,1628994703.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:31:44.337Z,1628994704.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023144.42*58

2021-08-15T02:31:44.361Z,1628994704.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.720001 m, bearing: 2.772839 deg, deltaT: 4.468398 s, approachRate: -54.999573 m/s, LOS rate: 0.380914 deg/s, posRepo size: 4
2021-08-15T02:31:44.363Z,1628994704.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.720001 m,
      bearing: 2.772839 deg,
      approachRate: -54.999573 m/s,
      LOS rate: 0.380914 deg/s,
      cmd update: 1.523656 deg/s,
      cmd heading: 350.714413 deg,
      new cmd heading: 351.209631 deg.

2021-08-15T02:31:46.765Z,1628994706.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:31:47.138Z,1628994707.138 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:31:47.138Z,1628994707.138 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:31:47.138Z,1628994707.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:31:47.139Z,1628994707.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:31:47.545Z,1628994707.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,0075F,186,80,80,A8,FF
2021-08-15T02:31:47.545Z,1628994707.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:31:47.546Z,1628994707.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:31:47.547Z,1628994707.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:31:47.957Z,1628994707.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:31:48.773Z,1628994708.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,016F7,187,80,80,92,FF
2021-08-15T02:31:48.774Z,1628994708.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:31:48.777Z,1628994708.777 [Micromodem](INFO): Nmea in: $SNTTA,0.040704,,,,023148.87*44

2021-08-15T02:31:49.192Z,1628994709.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 315.239990 m, bearing: 0.124753 deg, deltaT: 4.819984 s, approachRate: 49.693108 m/s, LOS rate: -0.549397 deg/s, posRepo size: 4
2021-08-15T02:31:49.194Z,1628994709.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 315.239990 m,
      bearing: 0.124753 deg,
      approachRate: 49.693108 m/s,
      LOS rate: -0.549397 deg/s,
      cmd update: -2.197589 deg/s,
      cmd heading: 358.053060 deg,
      new cmd heading: 358.613184 deg.

2021-08-15T02:31:51.629Z,1628994711.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:31:51.973Z,1628994711.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:31:51.973Z,1628994711.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:31:51.973Z,1628994711.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:31:51.974Z,1628994711.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:31:52.389Z,1628994712.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,016F7,187,80,80,92,FF
2021-08-15T02:31:52.389Z,1628994712.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:31:52.390Z,1628994712.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:31:52.391Z,1628994712.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:31:52.789Z,1628994712.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:31:53.617Z,1628994713.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,016BB,186,80,80,9B,FF
2021-08-15T02:31:53.617Z,1628994713.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:31:53.620Z,1628994713.620 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023153.71*5E

2021-08-15T02:31:54.086Z,1628994714.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 311.639984 m, bearing: 358.271781 deg, deltaT: 4.861284 s, approachRate: -0.740546 m/s, LOS rate: -0.381168 deg/s, posRepo size: 4
2021-08-15T02:31:54.088Z,1628994714.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 311.639984 m,
      bearing: 358.271781 deg,
      approachRate: -0.740546 m/s,
      LOS rate: -0.381168 deg/s,
      cmd update: -1.524672 deg/s,
      cmd heading: 347.387413 deg,
      new cmd heading: 346.490867 deg.

2021-08-15T02:31:56.459Z,1628994716.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:31:56.825Z,1628994716.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:31:56.825Z,1628994716.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:31:56.825Z,1628994716.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:31:56.826Z,1628994716.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:31:57.237Z,1628994717.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,016BB,186,80,80,9B,FF
2021-08-15T02:31:57.237Z,1628994717.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:31:57.237Z,1628994717.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:31:57.239Z,1628994717.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:31:57.670Z,1628994717.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:31:58.057Z,1628994718.057 [Micromodem](INFO): Nmea in: $SNTTA,0.196932,0.196176,,,023158.56*58

2021-08-15T02:31:58.441Z,1628994718.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,01682,184,80,80,76,FF
2021-08-15T02:31:58.441Z,1628994718.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:31:58.897Z,1628994718.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 308.220001 m, bearing: 358.830163 deg, deltaT: 4.769293 s, approachRate: -0.717084 m/s, LOS rate: 0.117078 deg/s, posRepo size: 4
2021-08-15T02:31:58.899Z,1628994718.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 308.220001 m,
      bearing: 358.830163 deg,
      approachRate: -0.717084 m/s,
      LOS rate: 0.117078 deg/s,
      cmd update: 0.468314 deg/s,
      cmd heading: 340.097395 deg,
      new cmd heading: 339.428741 deg.

2021-08-15T02:32:00.895Z,1628994720.895 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T02:32:01.291Z,1628994721.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:32:01.739Z,1628994721.739 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:32:01.739Z,1628994721.739 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:32:01.740Z,1628994721.740 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:32:01.741Z,1628994721.741 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:32:02.077Z,1628994722.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,01682,184,80,80,76,FF
2021-08-15T02:32:02.077Z,1628994722.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:32:02.077Z,1628994722.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:32:02.079Z,1628994722.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:32:02.493Z,1628994722.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:32:03.321Z,1628994723.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,01649,187,80,80,7C,FF
2021-08-15T02:32:03.321Z,1628994723.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:32:03.325Z,1628994723.325 [Micromodem](INFO): Nmea in: $SNTTA,,0.428185,,,023203.40*46

2021-08-15T02:32:03.774Z,1628994723.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 304.799988 m, bearing: 359.761445 deg, deltaT: 4.909844 s, approachRate: -0.696563 m/s, LOS rate: 0.189677 deg/s, posRepo size: 4
2021-08-15T02:32:03.780Z,1628994723.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.799988 m,
      bearing: 359.761445 deg,
      approachRate: -0.696563 m/s,
      LOS rate: 0.189677 deg/s,
      cmd update: 0.758706 deg/s,
      cmd heading: 342.396629 deg,
      new cmd heading: 342.586355 deg.

2021-08-15T02:32:06.174Z,1628994726.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:32:06.529Z,1628994726.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:32:06.529Z,1628994726.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:32:06.529Z,1628994726.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:32:06.530Z,1628994726.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:32:06.933Z,1628994726.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1A,000,01649,187,80,80,7C,FF
2021-08-15T02:32:06.933Z,1628994726.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:32:06.933Z,1628994726.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:32:06.935Z,1628994726.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:32:07.329Z,1628994727.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:32:08.165Z,1628994728.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,01612,187,80,80,8A,FF
2021-08-15T02:32:08.165Z,1628994728.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:32:08.169Z,1628994728.169 [Micromodem](INFO): Nmea in: $SNTTA,,0.389876,,,023208.25*47

2021-08-15T02:32:08.580Z,1628994728.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 301.500000 m, bearing: 0.300894 deg, deltaT: 4.862122 s, approachRate: -0.678714 m/s, LOS rate: 0.110947 deg/s, posRepo size: 4
2021-08-15T02:32:08.582Z,1628994728.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.500000 m,
      bearing: 0.300894 deg,
      approachRate: -0.678714 m/s,
      LOS rate: 0.110947 deg/s,
      cmd update: 0.443788 deg/s,
      cmd heading: 346.085704 deg,
      new cmd heading: 346.350273 deg.

2021-08-15T02:32:11.013Z,1628994731.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:32:11.381Z,1628994731.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:32:11.381Z,1628994731.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:32:11.381Z,1628994731.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:32:11.382Z,1628994731.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:32:11.782Z,1628994731.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,01612,187,80,80,8A,FF
2021-08-15T02:32:11.783Z,1628994731.783 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:32:11.783Z,1628994731.783 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:32:11.787Z,1628994731.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:32:12.193Z,1628994732.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:32:13.001Z,1628994733.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,015D9,186,80,80,9A,FF
2021-08-15T02:32:13.001Z,1628994733.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:32:13.004Z,1628994733.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023213.11*5F

2021-08-15T02:32:13.425Z,1628994733.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 298.079987 m, bearing: 1.284471 deg, deltaT: 4.799405 s, approachRate: -0.712591 m/s, LOS rate: 0.204937 deg/s, posRepo size: 4
2021-08-15T02:32:13.427Z,1628994733.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 298.079987 m,
      bearing: 1.284471 deg,
      approachRate: -0.712591 m/s,
      LOS rate: 0.204937 deg/s,
      cmd update: 0.819749 deg/s,
      cmd heading: 348.215651 deg,
      new cmd heading: 348.390519 deg.

2021-08-15T02:32:15.896Z,1628994735.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:32:16.232Z,1628994736.232 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:32:16.232Z,1628994736.232 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:32:16.233Z,1628994736.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:32:16.233Z,1628994736.233 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:32:16.640Z,1628994736.640 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,015D9,186,80,80,9A,FF
2021-08-15T02:32:16.640Z,1628994736.640 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:32:16.641Z,1628994736.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:32:16.668Z,1628994736.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:32:17.028Z,1628994737.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:32:17.868Z,1628994737.868 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,015A0,187,80,80,98,FF
2021-08-15T02:32:17.869Z,1628994737.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:32:17.873Z,1628994737.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023217.99*5B

2021-08-15T02:32:18.284Z,1628994738.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.660004 m, bearing: 1.530076 deg, deltaT: 4.935478 s, approachRate: -0.692939 m/s, LOS rate: 0.049763 deg/s, posRepo size: 4
2021-08-15T02:32:18.286Z,1628994738.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.660004 m,
      bearing: 1.530076 deg,
      approachRate: -0.692939 m/s,
      LOS rate: 0.049763 deg/s,
      cmd update: 0.199053 deg/s,
      cmd heading: 352.254263 deg,
      new cmd heading: 352.522140 deg.

2021-08-15T02:32:20.758Z,1628994740.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:32:21.065Z,1628994741.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:32:21.065Z,1628994741.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:32:21.065Z,1628994741.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:32:21.066Z,1628994741.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:32:21.485Z,1628994741.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,015A0,187,80,80,98,FF
2021-08-15T02:32:21.485Z,1628994741.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:32:21.485Z,1628994741.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:32:21.487Z,1628994741.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:32:21.925Z,1628994741.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:32:22.292Z,1628994742.292 [Micromodem](INFO): Nmea in: 23,COPROC,0.20.0.39330*79

2021-08-15T02:32:22.292Z,1628994742.292 [Micromodem](ERROR): Response from modem failed NMEA checksum: 23,COPROC,0.20.0.39330*79
 expected 0
2021-08-15T02:32:22.717Z,1628994742.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB0,000,01568,184,80,80,A2,FF
2021-08-15T02:32:22.717Z,1628994742.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:32:23.134Z,1628994743.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 291.299988 m, bearing: 0.218996 deg, deltaT: 4.811018 s, approachRate: -0.698400 m/s, LOS rate: -0.272516 deg/s, posRepo size: 4
2021-08-15T02:32:23.137Z,1628994743.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 291.299988 m,
      bearing: 0.218996 deg,
      approachRate: -0.698400 m/s,
      LOS rate: -0.272516 deg/s,
      cmd update: -1.090064 deg/s,
      cmd heading: 353.212013 deg,
      new cmd heading: 353.284562 deg.

2021-08-15T02:32:25.542Z,1628994745.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:32:25.921Z,1628994745.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:32:25.921Z,1628994745.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:32:25.922Z,1628994745.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:32:25.923Z,1628994745.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:32:26.313Z,1628994746.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB0,000,01568,184,80,80,A2,FF
2021-08-15T02:32:26.313Z,1628994746.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:32:26.314Z,1628994746.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:32:26.317Z,1628994746.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:32:26.727Z,1628994746.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:32:27.549Z,1628994747.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,01530,184,80,80,91,FF
2021-08-15T02:32:27.549Z,1628994747.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:32:27.552Z,1628994747.552 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023227.64*5A

2021-08-15T02:32:28.003Z,1628994748.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.940002 m, bearing: 1.115135 deg, deltaT: 4.791356 s, approachRate: -0.701260 m/s, LOS rate: 0.187032 deg/s, posRepo size: 4
2021-08-15T02:32:28.025Z,1628994748.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.940002 m,
      bearing: 1.115135 deg,
      approachRate: -0.701260 m/s,
      LOS rate: 0.187032 deg/s,
      cmd update: 0.748130 deg/s,
      cmd heading: 347.980091 deg,
      new cmd heading: 347.506215 deg.

2021-08-15T02:32:30.405Z,1628994750.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:32:30.757Z,1628994750.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:32:30.758Z,1628994750.758 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:32:30.758Z,1628994750.758 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:32:30.759Z,1628994750.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:32:31.178Z,1628994751.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,01530,184,80,80,91,FF
2021-08-15T02:32:31.178Z,1628994751.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:32:31.178Z,1628994751.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:32:31.181Z,1628994751.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:32:31.568Z,1628994751.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:32:32.389Z,1628994752.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,014F3,187,80,80,A3,FF
2021-08-15T02:32:32.389Z,1628994752.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:32:32.392Z,1628994752.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023232.50*59

2021-08-15T02:32:32.858Z,1628994752.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 284.279999 m, bearing: 2.192701 deg, deltaT: 4.839645 s, approachRate: -0.756255 m/s, LOS rate: 0.222654 deg/s, posRepo size: 4
2021-08-15T02:32:32.860Z,1628994752.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.279999 m,
      bearing: 2.192701 deg,
      approachRate: -0.756255 m/s,
      LOS rate: 0.222654 deg/s,
      cmd update: 0.890616 deg/s,
      cmd heading: 351.600721 deg,
      new cmd heading: 351.937598 deg.

2021-08-15T02:32:35.219Z,1628994755.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:32:35.608Z,1628994755.608 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:32:35.609Z,1628994755.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:32:35.609Z,1628994755.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:32:35.610Z,1628994755.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:32:36.009Z,1628994756.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,014F3,187,80,80,A3,FF
2021-08-15T02:32:36.009Z,1628994756.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:32:36.009Z,1628994756.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:32:36.011Z,1628994756.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:32:36.425Z,1628994756.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:32:37.256Z,1628994757.256 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,014BD,184,80,80,94,FF
2021-08-15T02:32:37.257Z,1628994757.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:32:37.259Z,1628994757.259 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023237.33*59

2021-08-15T02:32:37.709Z,1628994757.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.039978 m, bearing: 1.128913 deg, deltaT: 4.867519 s, approachRate: -0.665641 m/s, LOS rate: -0.218548 deg/s, posRepo size: 4
2021-08-15T02:32:37.713Z,1628994757.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.039978 m,
      bearing: 1.128913 deg,
      approachRate: -0.665641 m/s,
      LOS rate: -0.218548 deg/s,
      cmd update: -0.874193 deg/s,
      cmd heading: 355.935879 deg,
      new cmd heading: 356.321200 deg.

2021-08-15T02:32:40.076Z,1628994760.076 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:32:40.118Z,1628994760.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:32:40.469Z,1628994760.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:32:40.469Z,1628994760.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:32:40.469Z,1628994760.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:32:40.470Z,1628994760.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:32:40.881Z,1628994760.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,014BD,184,80,80,94,FF
2021-08-15T02:32:40.881Z,1628994760.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:32:40.881Z,1628994760.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:32:40.883Z,1628994760.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:32:41.281Z,1628994761.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:32:42.109Z,1628994762.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,01480,183,80,80,A4,FF
2021-08-15T02:32:42.109Z,1628994762.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:32:42.113Z,1628994762.113 [Micromodem](INFO): Nmea in: $SNTTA,0.390452,,,,023242.20*4E

2021-08-15T02:32:42.528Z,1628994762.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 277.380005 m, bearing: 359.975995 deg, deltaT: 4.926427 s, approachRate: -0.742926 m/s, LOS rate: -0.234029 deg/s, posRepo size: 4
2021-08-15T02:32:42.530Z,1628994762.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 277.380005 m,
      bearing: 359.975995 deg,
      approachRate: -0.742926 m/s,
      LOS rate: -0.234029 deg/s,
      cmd update: -0.936115 deg/s,
      cmd heading: 351.631314 deg,
      new cmd heading: 351.344377 deg.

2021-08-15T02:32:44.949Z,1628994764.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:32:45.313Z,1628994765.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:32:45.313Z,1628994765.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:32:45.313Z,1628994765.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:32:45.314Z,1628994765.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:32:45.726Z,1628994765.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,01480,183,80,80,A4,FF
2021-08-15T02:32:45.726Z,1628994765.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:32:45.726Z,1628994765.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:32:45.727Z,1628994765.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:32:46.131Z,1628994766.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:32:46.953Z,1628994766.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,01442,184,80,80,8D,FF
2021-08-15T02:32:46.954Z,1628994766.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:32:46.957Z,1628994766.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023247.05*5B

2021-08-15T02:32:47.370Z,1628994767.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 273.660004 m, bearing: 1.612443 deg, deltaT: 4.805346 s, approachRate: -0.774138 m/s, LOS rate: 0.340548 deg/s, posRepo size: 4
2021-08-15T02:32:47.372Z,1628994767.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.660004 m,
      bearing: 1.612443 deg,
      approachRate: -0.774138 m/s,
      LOS rate: 0.340548 deg/s,
      cmd update: 1.362190 deg/s,
      cmd heading: 347.134595 deg,
      new cmd heading: 346.791201 deg.

2021-08-15T02:32:49.794Z,1628994769.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:32:50.173Z,1628994770.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:32:50.173Z,1628994770.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:32:50.173Z,1628994770.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:32:50.174Z,1628994770.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:32:50.561Z,1628994770.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,01442,184,80,80,8D,FF
2021-08-15T02:32:50.561Z,1628994770.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:32:50.562Z,1628994770.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:32:50.563Z,1628994770.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:32:50.973Z,1628994770.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:32:51.805Z,1628994771.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,01409,187,80,80,9F,FF
2021-08-15T02:32:51.805Z,1628994771.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:32:51.808Z,1628994771.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023251.89*58

2021-08-15T02:32:52.242Z,1628994772.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 270.239990 m, bearing: 1.973562 deg, deltaT: 4.924881 s, approachRate: -0.694436 m/s, LOS rate: 0.073326 deg/s, posRepo size: 4
2021-08-15T02:32:52.244Z,1628994772.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.239990 m,
      bearing: 1.973562 deg,
      approachRate: -0.694436 m/s,
      LOS rate: 0.073326 deg/s,
      cmd update: 0.293302 deg/s,
      cmd heading: 353.843339 deg,
      new cmd heading: 354.270764 deg.

2021-08-15T02:32:54.671Z,1628994774.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:32:55.021Z,1628994775.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:32:55.021Z,1628994775.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:32:55.021Z,1628994775.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:32:55.022Z,1628994775.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:32:55.414Z,1628994775.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,01409,187,80,80,9F,FF
2021-08-15T02:32:55.414Z,1628994775.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:32:55.415Z,1628994775.415 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:32:55.420Z,1628994775.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:32:55.823Z,1628994775.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:32:56.231Z,1628994776.231 [Micromodem](INFO): Nmea in: $SNTTA,0.161399,0.161661,,,023256.74*5F

2021-08-15T02:32:56.621Z,1628994776.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,013D0,184,80,80,93,FF
2021-08-15T02:32:56.621Z,1628994776.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:32:57.067Z,1628994777.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.819977 m, bearing: 1.635064 deg, deltaT: 4.758586 s, approachRate: -0.718704 m/s, LOS rate: -0.071134 deg/s, posRepo size: 4
2021-08-15T02:32:57.069Z,1628994777.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 266.819977 m,
      bearing: 1.635064 deg,
      approachRate: -0.718704 m/s,
      LOS rate: -0.071134 deg/s,
      cmd update: -0.284537 deg/s,
      cmd heading: 355.237860 deg,
      new cmd heading: 355.350606 deg.

2021-08-15T02:32:59.491Z,1628994779.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:32:59.901Z,1628994779.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:32:59.901Z,1628994779.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:32:59.901Z,1628994779.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:32:59.902Z,1628994779.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:33:00.261Z,1628994780.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,013D0,184,80,80,93,FF
2021-08-15T02:33:00.261Z,1628994780.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:33:00.261Z,1628994780.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:33:00.263Z,1628994780.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:33:00.705Z,1628994780.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:33:01.501Z,1628994781.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,01396,184,80,80,80,FF
2021-08-15T02:33:01.501Z,1628994781.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:33:01.504Z,1628994781.504 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023301.59*51

2021-08-15T02:33:02.004Z,1628994782.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 263.339996 m, bearing: 359.781198 deg, deltaT: 4.861512 s, approachRate: -0.715823 m/s, LOS rate: -0.381336 deg/s, posRepo size: 4
2021-08-15T02:33:02.006Z,1628994782.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 263.339996 m,
      bearing: 359.781198 deg,
      approachRate: -0.715823 m/s,
      LOS rate: -0.381336 deg/s,
      cmd update: -1.525342 deg/s,
      cmd heading: 353.855710 deg,
      new cmd heading: 353.723638 deg.

2021-08-15T02:33:04.347Z,1628994784.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:33:04.713Z,1628994784.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:33:04.713Z,1628994784.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:33:04.713Z,1628994784.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:33:04.714Z,1628994784.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:33:05.114Z,1628994785.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,01396,184,80,80,80,FF
2021-08-15T02:33:05.115Z,1628994785.115 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:33:05.115Z,1628994785.115 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:33:05.117Z,1628994785.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:33:05.517Z,1628994785.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:33:06.345Z,1628994786.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,0135B,183,80,80,9E,FF
2021-08-15T02:33:06.345Z,1628994786.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:33:06.349Z,1628994786.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023306.44*5A

2021-08-15T02:33:06.810Z,1628994786.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 259.799988 m, bearing: 0.325427 deg, deltaT: 4.841015 s, approachRate: -0.731253 m/s, LOS rate: 0.112418 deg/s, posRepo size: 4
2021-08-15T02:33:06.813Z,1628994786.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.799988 m,
      bearing: 0.325427 deg,
      approachRate: -0.731253 m/s,
      LOS rate: 0.112418 deg/s,
      cmd update: 0.449674 deg/s,
      cmd heading: 346.496180 deg,
      new cmd heading: 345.818803 deg.

2021-08-15T02:33:09.170Z,1628994789.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:33:09.553Z,1628994789.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:33:09.553Z,1628994789.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:33:09.553Z,1628994789.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:33:09.554Z,1628994789.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:33:09.965Z,1628994789.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,0135B,183,80,80,9E,FF
2021-08-15T02:33:09.965Z,1628994789.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:33:09.965Z,1628994789.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:33:09.967Z,1628994789.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:33:10.377Z,1628994790.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:33:11.205Z,1628994791.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,01321,187,80,80,A8,FF
2021-08-15T02:33:11.205Z,1628994791.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:33:11.208Z,1628994791.208 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023311.29*57

2021-08-15T02:33:11.604Z,1628994791.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.319977 m, bearing: 0.823204 deg, deltaT: 4.830366 s, approachRate: -0.720445 m/s, LOS rate: 0.103052 deg/s, posRepo size: 4
2021-08-15T02:33:11.610Z,1628994791.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.319977 m,
      bearing: 0.823204 deg,
      approachRate: -0.720445 m/s,
      LOS rate: 0.103052 deg/s,
      cmd update: 0.412207 deg/s,
      cmd heading: 348.680969 deg,
      new cmd heading: 348.851909 deg.

2021-08-15T02:33:14.059Z,1628994794.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:33:14.405Z,1628994794.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:33:14.405Z,1628994794.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:33:14.405Z,1628994794.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:33:14.406Z,1628994794.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:33:14.809Z,1628994794.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,01321,187,80,80,A8,FF
2021-08-15T02:33:14.809Z,1628994794.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:33:14.809Z,1628994794.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:33:14.811Z,1628994794.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:33:15.217Z,1628994795.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:33:16.045Z,1628994796.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,012E7,187,80,80,48,FF
2021-08-15T02:33:16.045Z,1628994796.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:33:16.049Z,1628994796.049 [Micromodem](INFO): Nmea in: $SNTTA,0.174223,,,,023316.13*46

2021-08-15T02:33:16.460Z,1628994796.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.839996 m, bearing: 359.841796 deg, deltaT: 4.924753 s, approachRate: -0.706630 m/s, LOS rate: -0.199280 deg/s, posRepo size: 4
2021-08-15T02:33:16.462Z,1628994796.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.839996 m,
      bearing: 359.841796 deg,
      approachRate: -0.706630 m/s,
      LOS rate: -0.199280 deg/s,
      cmd update: -0.797121 deg/s,
      cmd heading: 350.710221 deg,
      new cmd heading: 350.839327 deg.

2021-08-15T02:33:18.894Z,1628994798.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:33:19.257Z,1628994799.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:33:19.257Z,1628994799.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:33:19.257Z,1628994799.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:33:19.258Z,1628994799.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:33:19.673Z,1628994799.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,012E7,187,80,80,48,FF
2021-08-15T02:33:19.673Z,1628994799.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:33:19.673Z,1628994799.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:33:19.675Z,1628994799.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:33:20.065Z,1628994800.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:33:20.885Z,1628994800.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,012AC,186,80,80,7A,FF
2021-08-15T02:33:20.885Z,1628994800.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:33:20.888Z,1628994800.888 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023321.00*5F

2021-08-15T02:33:21.302Z,1628994801.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.300003 m, bearing: 0.280948 deg, deltaT: 4.798619 s, approachRate: -0.737711 m/s, LOS rate: 0.091515 deg/s, posRepo size: 4
2021-08-15T02:33:21.304Z,1628994801.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.300003 m,
      bearing: 0.280948 deg,
      approachRate: -0.737711 m/s,
      LOS rate: 0.091515 deg/s,
      cmd update: 0.366058 deg/s,
      cmd heading: 346.883950 deg,
      new cmd heading: 346.600725 deg.

2021-08-15T02:33:23.747Z,1628994803.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:33:24.101Z,1628994804.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:33:24.101Z,1628994804.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:33:24.102Z,1628994804.102 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:33:24.103Z,1628994804.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:33:24.514Z,1628994804.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,012AC,186,80,80,7A,FF
2021-08-15T02:33:24.514Z,1628994804.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:33:24.514Z,1628994804.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:33:24.516Z,1628994804.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:33:24.917Z,1628994804.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:33:25.737Z,1628994805.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,0126F,186,80,80,8E,FF
2021-08-15T02:33:25.738Z,1628994805.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:33:25.741Z,1628994805.741 [Micromodem](INFO): Nmea in: $SNTTA,0.166048,,,,023325.84*44

2021-08-15T02:33:26.207Z,1628994806.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.639984 m, bearing: 0.252888 deg, deltaT: 4.951243 s, approachRate: -0.739212 m/s, LOS rate: -0.005667 deg/s, posRepo size: 4
2021-08-15T02:33:26.214Z,1628994806.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.639984 m,
      bearing: 0.252888 deg,
      approachRate: -0.739212 m/s,
      LOS rate: -0.005667 deg/s,
      cmd update: -0.022669 deg/s,
      cmd heading: 348.684752 deg,
      new cmd heading: 348.809729 deg.

2021-08-15T02:33:28.589Z,1628994808.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:33:28.961Z,1628994808.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:33:28.961Z,1628994808.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:33:28.961Z,1628994808.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:33:28.962Z,1628994808.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:33:29.361Z,1628994809.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,0126F,186,80,80,8E,FF
2021-08-15T02:33:29.361Z,1628994809.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:33:29.361Z,1628994809.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:33:29.363Z,1628994809.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:33:29.781Z,1628994809.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:33:30.593Z,1628994810.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,01240,184,80,80,6F,FF
2021-08-15T02:33:30.593Z,1628994810.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:33:30.596Z,1628994810.596 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023330.69*50

2021-08-15T02:33:31.042Z,1628994811.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.820007 m, bearing: 357.176191 deg, deltaT: 4.783658 s, approachRate: -0.589502 m/s, LOS rate: -0.643167 deg/s, posRepo size: 4
2021-08-15T02:33:31.048Z,1628994811.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.820007 m,
      bearing: 357.176191 deg,
      approachRate: -0.589502 m/s,
      LOS rate: -0.643167 deg/s,
      cmd update: -2.572667 deg/s,
      cmd heading: 348.575673 deg,
      new cmd heading: 348.567417 deg.

2021-08-15T02:33:33.416Z,1628994813.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:33:33.817Z,1628994813.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:33:33.817Z,1628994813.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:33:33.817Z,1628994813.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:33:33.818Z,1628994813.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:33:34.213Z,1628994814.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,01240,184,80,80,6F,FF
2021-08-15T02:33:34.213Z,1628994814.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:33:34.213Z,1628994814.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:33:34.215Z,1628994814.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:33:34.634Z,1628994814.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:33:35.449Z,1628994815.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,01205,187,80,80,69,FF
2021-08-15T02:33:35.450Z,1628994815.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:33:35.453Z,1628994815.453 [Micromodem](INFO): Nmea in: $SNTTA,0.161593,,,,023335.54*4C

2021-08-15T02:33:35.910Z,1628994815.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.279999 m, bearing: 358.604466 deg, deltaT: 4.786921 s, approachRate: -0.739517 m/s, LOS rate: 0.298370 deg/s, posRepo size: 4
2021-08-15T02:33:35.911Z,1628994815.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.279999 m,
      bearing: 358.604466 deg,
      approachRate: -0.739517 m/s,
      LOS rate: 0.298370 deg/s,
      cmd update: 1.193481 deg/s,
      cmd heading: 336.250967 deg,
      new cmd heading: 335.115963 deg.

2021-08-15T02:33:38.291Z,1628994818.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:33:38.674Z,1628994818.674 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:33:38.674Z,1628994818.674 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:33:38.675Z,1628994818.675 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:33:38.675Z,1628994818.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:33:39.061Z,1628994819.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,01205,187,80,80,69,FF
2021-08-15T02:33:39.061Z,1628994819.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:33:39.061Z,1628994819.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:33:39.063Z,1628994819.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:33:39.475Z,1628994819.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:33:40.282Z,1628994820.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,011CF,186,80,80,5F,FF
2021-08-15T02:33:40.282Z,1628994820.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:33:40.305Z,1628994820.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023340.38*53

2021-08-15T02:33:40.813Z,1628994820.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.039978 m, bearing: 357.080842 deg, deltaT: 4.888902 s, approachRate: -0.662730 m/s, LOS rate: -0.311650 deg/s, posRepo size: 4
2021-08-15T02:33:40.815Z,1628994820.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 236.039978 m,
      bearing: 357.080842 deg,
      approachRate: -0.662730 m/s,
      LOS rate: -0.311650 deg/s,
      cmd update: -1.246598 deg/s,
      cmd heading: 342.075618 deg,
      new cmd heading: 342.609368 deg.

2021-08-15T02:33:43.113Z,1628994823.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:33:43.510Z,1628994823.510 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:33:43.510Z,1628994823.510 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:33:43.511Z,1628994823.511 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:33:43.516Z,1628994823.516 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:33:43.937Z,1628994823.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFD,000,011CF,186,80,80,5F,FF
2021-08-15T02:33:43.937Z,1628994823.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:33:43.937Z,1628994823.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:33:43.939Z,1628994823.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:33:44.323Z,1628994824.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:33:45.146Z,1628994825.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E85,000,0118D,186,80,80,47,FF
2021-08-15T02:33:45.147Z,1628994825.147 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:33:45.152Z,1628994825.152 [Micromodem](INFO): Nmea in: $SNTTA,0.157357,,,,023345.26*45

2021-08-15T02:33:45.572Z,1628994825.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.079987 m, bearing: 3.952588 deg, deltaT: 4.848848 s, approachRate: -0.816687 m/s, LOS rate: 1.417189 deg/s, posRepo size: 4
2021-08-15T02:33:45.574Z,1628994825.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.079987 m,
      bearing: 3.952588 deg,
      approachRate: -0.816687 m/s,
      LOS rate: 1.417189 deg/s,
      cmd update: 5.668756 deg/s,
      cmd heading: 336.025179 deg,
      new cmd heading: 335.564793 deg.

2021-08-15T02:33:48.026Z,1628994828.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:33:48.355Z,1628994828.355 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:33:48.355Z,1628994828.355 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:33:48.356Z,1628994828.356 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:33:48.357Z,1628994828.357 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:33:48.761Z,1628994828.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E85,000,0118D,186,80,80,47,FF
2021-08-15T02:33:48.761Z,1628994828.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:33:48.761Z,1628994828.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:33:48.763Z,1628994828.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:33:49.179Z,1628994829.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:33:50.010Z,1628994830.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,01155,186,80,80,7D,FF
2021-08-15T02:33:50.010Z,1628994830.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:33:50.015Z,1628994830.015 [Micromodem](INFO): Nmea in: $SNTTA,0.161133,,,,023350.09*49

2021-08-15T02:33:50.412Z,1628994830.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.719986 m, bearing: 3.036678 deg, deltaT: 4.926579 s, approachRate: -0.682015 m/s, LOS rate: -0.185912 deg/s, posRepo size: 4
2021-08-15T02:33:50.414Z,1628994830.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.719986 m,
      bearing: 3.036678 deg,
      approachRate: -0.682015 m/s,
      LOS rate: -0.185912 deg/s,
      cmd update: -0.743647 deg/s,
      cmd heading: 3.874644 deg,
      new cmd heading: 5.556428 deg.

2021-08-15T02:33:52.854Z,1628994832.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:33:53.205Z,1628994833.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:33:53.205Z,1628994833.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:33:53.205Z,1628994833.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:33:53.206Z,1628994833.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:33:53.613Z,1628994833.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,01155,186,80,80,7D,FF
2021-08-15T02:33:53.613Z,1628994833.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:33:53.614Z,1628994833.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:33:53.615Z,1628994833.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:33:54.013Z,1628994834.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:33:54.845Z,1628994834.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,0111D,183,80,80,80,FF
2021-08-15T02:33:54.846Z,1628994834.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:33:54.849Z,1628994834.849 [Micromodem](INFO): Nmea in: $SNTTA,,0.062248,,,023354.94*44

2021-08-15T02:33:55.254Z,1628994835.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.359985 m, bearing: 359.589297 deg, deltaT: 4.802496 s, approachRate: -0.699636 m/s, LOS rate: -0.717830 deg/s, posRepo size: 4
2021-08-15T02:33:55.256Z,1628994835.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.359985 m,
      bearing: 359.589297 deg,
      approachRate: -0.699636 m/s,
      LOS rate: -0.717830 deg/s,
      cmd update: -2.871322 deg/s,
      cmd heading: 0.292980 deg,
      new cmd heading: 0.053104 deg.

2021-08-15T02:33:57.716Z,1628994837.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:33:58.062Z,1628994838.062 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:33:58.062Z,1628994838.062 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:33:58.062Z,1628994838.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:33:58.063Z,1628994838.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:33:58.457Z,1628994838.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,0111D,183,80,80,80,FF
2021-08-15T02:33:58.457Z,1628994838.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:33:58.457Z,1628994838.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:33:58.459Z,1628994838.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:33:58.865Z,1628994838.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:33:59.702Z,1628994839.702 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023359.78*5F

2021-08-15T02:34:00.504Z,1628994840.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:34:02.101Z,1628994842.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,183,80,80,80,FF
2021-08-15T02:34:02.101Z,1628994842.101 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,183,80,80,80,FF
2021-08-15T02:34:02.101Z,1628994842.101 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:34:03.327Z,1628994843.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:34:03.713Z,1628994843.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:34:03.713Z,1628994843.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:34:03.714Z,1628994843.714 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:34:03.714Z,1628994843.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:34:04.114Z,1628994844.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,183,80,80,80,FF
2021-08-15T02:34:04.114Z,1628994844.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:34:04.114Z,1628994844.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:34:04.156Z,1628994844.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:34:04.525Z,1628994844.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:34:05.325Z,1628994845.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,010A5,187,80,80,6D,FF
2021-08-15T02:34:05.326Z,1628994845.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:34:05.737Z,1628994845.737 [Micromodem](INFO): Nmea in: $SNTTA,0.310666,,,,023405.51*40

2021-08-15T02:34:05.763Z,1628994845.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.159988 m, bearing: 2.296814 deg, deltaT: 10.478018 s, approachRate: -0.687153 m/s, LOS rate: 0.258399 deg/s, posRepo size: 4
2021-08-15T02:34:05.785Z,1628994845.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.159988 m,
      bearing: 2.296814 deg,
      approachRate: -0.687153 m/s,
      LOS rate: 0.258399 deg/s,
      cmd update: 1.033594 deg/s,
      cmd heading: 330.226380 deg,
      new cmd heading: 329.191748 deg.

2021-08-15T02:34:05.794Z,1628994845.794 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T02:34:05.794Z,1628994845.794 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T02:34:05.794Z,1628994845.794 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T02:34:05.794Z,1628994845.794 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T02:34:05.794Z,1628994845.794 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T02:34:06.439Z,1628994846.439 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 064118613C0000005D00000400320000000000000000151D80030C5669C08C79987220C7E496C4D5D4DC3B2BC754A3A6D2CF33C816BF5F8CB42CCF1F72B37FD0
2021-08-15T02:34:06.440Z,1628994846.440 [Micromodem](INFO): Outgoing frame #2, 6 bytes: A1A35A13D100
2021-08-15T02:34:06.441Z,1628994846.441 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-15T02:34:06.725Z,1628994846.725 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-15T02:34:07.102Z,1628994847.102 [Micromodem](INFO): Nmea in: $CADRQ,023407,1,10,0,64,1*74

2021-08-15T02:34:07.103Z,1628994847.103 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,064118613C0000005D00000400320000000000000000151D80030C5669C08C79987220C7E496C4D5D4DC3B2BC754A3A6D2CF33C816BF5F8CB42CCF1F72B37FD0*48

2021-08-15T02:34:07.485Z,1628994847.485 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T02:34:07.938Z,1628994847.938 [Micromodem](INFO): Nmea in: $CADRQ,023408,1,10,0,64,2*78

2021-08-15T02:34:07.939Z,1628994847.939 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A1A35A13D100*48

2021-08-15T02:34:08.256Z,1628994848.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:34:08.421Z,1628994848.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:34:08.421Z,1628994848.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:34:08.421Z,1628994848.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:34:08.422Z,1628994848.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:34:08.428Z,1628994848.428 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D

2021-08-15T02:34:08.830Z,1628994848.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,010A5,187,80,80,6D,FF
2021-08-15T02:34:08.830Z,1628994848.830 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:34:08.830Z,1628994848.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:34:08.831Z,1628994848.831 [Micromodem](INFO): Nmea in: $CATXP,70*75

2021-08-15T02:34:08.832Z,1628994848.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:34:10.879Z,1628994850.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:34:11.243Z,1628994851.243 [Micromodem](INFO): Nmea in: $CATXF,70*63

2021-08-15T02:34:11.244Z,1628994851.244 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2021-08-15T02:34:11.671Z,1628994851.671 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,023409.235983,3,0,200,4000,14500,1,1,10,1,2,2,3,70,14500*5E

2021-08-15T02:34:11.671Z,1628994851.671 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,023409.235983,3,0,200,4000,14500,1,1,10,1,2,2,3,70,14500*5E

2021-08-15T02:34:13.766Z,1628994853.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:34:14.106Z,1628994854.106 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T02:34:14.596Z,1628994854.596 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.173852
2021-08-15T02:34:14.598Z,1628994854.598 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-15T02:34:14.598Z,1628994854.598 [Micromodem](INFO): Sent 62 bytes from file Logs/20210814T221742/Courier0060.lzma.parts
2021-08-15T02:34:14.599Z,1628994854.599 [Micromodem](INFO): Packets left to send: 0
2021-08-15T02:34:14.995Z,1628994854.995 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815023414.170417,06,32767,45,0112,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,19.3,11.44,22,-8.44,-01,-0.57,34,14500,4000*79

2021-08-15T02:34:14.995Z,1628994854.995 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815023414.170417,06,32767,45,0112,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,19.3,11.44,22,-8.44,-01,-0.57,34,14500,4000*79

2021-08-15T02:34:15.421Z,1628994855.421 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T02:34:15.421Z,1628994855.421 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T02:34:15.422Z,1628994855.422 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T02:34:15.422Z,1628994855.422 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T02:34:15.422Z,1628994855.422 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T02:34:16.412Z,1628994856.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:34:16.825Z,1628994856.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:34:16.826Z,1628994856.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:34:16.827Z,1628994856.827 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:34:16.831Z,1628994856.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:34:17.197Z,1628994857.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,010A5,187,80,80,6D,FF
2021-08-15T02:34:17.197Z,1628994857.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:34:17.198Z,1628994857.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:34:19.051Z,1628994859.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:34:19.842Z,1628994859.842 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:34:20.248Z,1628994860.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:34:21.073Z,1628994861.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,00FF8,186,80,80,58,FF
2021-08-15T02:34:21.073Z,1628994861.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:34:21.076Z,1628994861.076 [Micromodem](INFO): Nmea in: $SNTTA,0.140613,,,,023421.17*41

2021-08-15T02:34:21.488Z,1628994861.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.779984 m, bearing: 2.684174 deg, deltaT: 15.682071 s, approachRate: -0.661903 m/s, LOS rate: 0.024701 deg/s, posRepo size: 4
2021-08-15T02:34:21.490Z,1628994861.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.779984 m,
      bearing: 2.684174 deg,
      approachRate: -0.661903 m/s,
      LOS rate: 0.024701 deg/s,
      cmd update: 0.098803 deg/s,
      cmd heading: 346.446330 deg,
      new cmd heading: 346.851730 deg.

2021-08-15T02:34:23.985Z,1628994863.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:34:24.285Z,1628994864.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:34:24.285Z,1628994864.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:34:24.285Z,1628994864.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:34:24.286Z,1628994864.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:34:24.701Z,1628994864.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,00FF8,186,80,80,58,FF
2021-08-15T02:34:24.701Z,1628994864.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:34:24.701Z,1628994864.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:34:24.703Z,1628994864.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:34:25.089Z,1628994865.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:34:25.929Z,1628994865.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,00FBE,186,80,80,66,FF
2021-08-15T02:34:25.929Z,1628994865.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:34:25.933Z,1628994865.933 [Micromodem](INFO): Nmea in: $SNTTA,0.479112,0.479112,,,023426.02*5D

2021-08-15T02:34:26.332Z,1628994866.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.299988 m, bearing: 2.900587 deg, deltaT: 4.939093 s, approachRate: -0.704582 m/s, LOS rate: 0.043816 deg/s, posRepo size: 4
2021-08-15T02:34:26.334Z,1628994866.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.299988 m,
      bearing: 2.900587 deg,
      approachRate: -0.704582 m/s,
      LOS rate: 0.043816 deg/s,
      cmd update: 0.175265 deg/s,
      cmd heading: 346.933930 deg,
      new cmd heading: 346.963700 deg.

2021-08-15T02:34:28.754Z,1628994868.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:34:29.125Z,1628994869.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:34:29.126Z,1628994869.126 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:34:29.126Z,1628994869.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:34:29.127Z,1628994869.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:34:29.529Z,1628994869.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,00FBE,186,80,80,66,FF
2021-08-15T02:34:29.529Z,1628994869.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:34:29.529Z,1628994869.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:34:29.531Z,1628994869.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:34:29.957Z,1628994869.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:34:29.969Z,1628994869.969 [Micromodem](INFO): Nmea in: .20.0.39330*7C

2021-08-15T02:34:29.969Z,1628994869.969 [Micromodem](ERROR): Response from modem failed NMEA checksum: .20.0.39330*7C
 expected 0
2021-08-15T02:34:30.757Z,1628994870.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,00F87,187,80,80,9E,FF
2021-08-15T02:34:30.757Z,1628994870.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:34:31.181Z,1628994871.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.999985 m, bearing: 3.114327 deg, deltaT: 4.749480 s, approachRate: -0.694814 m/s, LOS rate: 0.045003 deg/s, posRepo size: 4
2021-08-15T02:34:31.183Z,1628994871.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.999985 m,
      bearing: 3.114327 deg,
      approachRate: -0.694814 m/s,
      LOS rate: 0.045003 deg/s,
      cmd update: 0.180012 deg/s,
      cmd heading: 347.767053 deg,
      new cmd heading: 347.836610 deg.

2021-08-15T02:34:33.598Z,1628994873.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:34:33.977Z,1628994873.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:34:33.977Z,1628994873.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:34:33.977Z,1628994873.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:34:33.978Z,1628994873.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:34:34.373Z,1628994874.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,00F87,187,80,80,9E,FF
2021-08-15T02:34:34.373Z,1628994874.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:34:34.373Z,1628994874.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:34:34.375Z,1628994874.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:34:34.793Z,1628994874.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:34:35.634Z,1628994875.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,00F4C,186,80,80,6D,FF
2021-08-15T02:34:35.635Z,1628994875.635 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:34:35.647Z,1628994875.647 [Micromodem](INFO): Nmea in: $SNTTA,0.131431,,,,023435.70*41

2021-08-15T02:34:36.073Z,1628994876.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.459976 m, bearing: 1.347306 deg, deltaT: 4.930240 s, approachRate: -0.718020 m/s, LOS rate: -0.358405 deg/s, posRepo size: 4
2021-08-15T02:34:36.075Z,1628994876.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.459976 m,
      bearing: 1.347306 deg,
      approachRate: -0.718020 m/s,
      LOS rate: -0.358405 deg/s,
      cmd update: -1.433619 deg/s,
      cmd heading: 348.654556 deg,
      new cmd heading: 348.719088 deg.

2021-08-15T02:34:38.455Z,1628994878.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:34:38.841Z,1628994878.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:34:38.841Z,1628994878.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:34:38.841Z,1628994878.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:34:38.842Z,1628994878.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:34:39.250Z,1628994879.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,00F4C,186,80,80,6D,FF
2021-08-15T02:34:39.250Z,1628994879.250 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:34:39.250Z,1628994879.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:34:39.251Z,1628994879.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:34:39.673Z,1628994879.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:34:40.059Z,1628994880.059 [Micromodem](INFO): Nmea in: $SNTTA,0.157735,0.202619,,,023440.58*5E

2021-08-15T02:34:40.457Z,1628994880.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,00F13,187,80,80,92,FF
2021-08-15T02:34:40.457Z,1628994880.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:34:40.906Z,1628994880.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.039978 m, bearing: 3.565461 deg, deltaT: 4.761022 s, approachRate: -0.718333 m/s, LOS rate: 0.465899 deg/s, posRepo size: 4
2021-08-15T02:34:40.908Z,1628994880.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.039978 m,
      bearing: 3.565461 deg,
      approachRate: -0.718333 m/s,
      LOS rate: 0.465899 deg/s,
      cmd update: 1.863596 deg/s,
      cmd heading: 341.829149 deg,
      new cmd heading: 341.211994 deg.

2021-08-15T02:34:43.311Z,1628994883.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:34:43.713Z,1628994883.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:34:43.713Z,1628994883.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:34:43.713Z,1628994883.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:34:43.714Z,1628994883.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:34:44.097Z,1628994884.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,00F13,187,80,80,92,FF
2021-08-15T02:34:44.097Z,1628994884.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:34:44.098Z,1628994884.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:34:44.099Z,1628994884.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:34:44.505Z,1628994884.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:34:45.342Z,1628994885.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,00EDA,186,80,80,91,FF
2021-08-15T02:34:45.342Z,1628994885.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:34:45.345Z,1628994885.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023445.42*5C

2021-08-15T02:34:45.765Z,1628994885.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.619995 m, bearing: 3.580280 deg, deltaT: 4.886226 s, approachRate: -0.699923 m/s, LOS rate: 0.003033 deg/s, posRepo size: 4
2021-08-15T02:34:45.767Z,1628994885.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.619995 m,
      bearing: 3.580280 deg,
      approachRate: -0.699923 m/s,
      LOS rate: 0.003033 deg/s,
      cmd update: 0.012131 deg/s,
      cmd heading: 350.935233 deg,
      new cmd heading: 351.685884 deg.

2021-08-15T02:34:48.194Z,1628994888.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:34:48.545Z,1628994888.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:34:48.545Z,1628994888.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:34:48.545Z,1628994888.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:34:48.546Z,1628994888.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:34:48.941Z,1628994888.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,00EDA,186,80,80,91,FF
2021-08-15T02:34:48.941Z,1628994888.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:34:48.941Z,1628994888.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:34:48.943Z,1628994888.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:34:49.357Z,1628994889.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:34:49.369Z,1628994889.369 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T02:34:49.762Z,1628994889.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F54,000,00EDA,186,80,80,91,FF
2021-08-15T02:34:49.762Z,1628994889.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:34:50.193Z,1628994890.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023450.26*5A

2021-08-15T02:34:50.252Z,1628994890.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.619995 m, bearing: 2.816820 deg, deltaT: 4.436543 s, approachRate: 0.000000 m/s, LOS rate: -0.172085 deg/s, posRepo size: 4
2021-08-15T02:34:50.254Z,1628994890.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.619995 m,
      bearing: 2.816820 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.172085 deg/s,
      cmd update: -0.688338 deg/s,
      cmd heading: 350.989031 deg,
      new cmd heading: 350.994554 deg.

2021-08-15T02:34:52.606Z,1628994892.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:34:52.993Z,1628994892.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:34:52.993Z,1628994892.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:34:52.993Z,1628994892.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:34:52.994Z,1628994892.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:34:53.421Z,1628994893.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F54,000,00EDA,186,80,80,91,FF
2021-08-15T02:34:53.421Z,1628994893.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:34:53.421Z,1628994893.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:34:53.423Z,1628994893.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:34:53.793Z,1628994893.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:34:54.201Z,1628994894.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,0081A,187,80,80,B4,FF
2021-08-15T02:34:54.202Z,1628994894.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:34:54.615Z,1628994894.615 [Micromodem](INFO): Nmea in: $SNTTA,0.057726,,,,023454.75*47

2021-08-15T02:34:54.688Z,1628994894.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.940002 m, bearing: 2.721089 deg, deltaT: 4.480752 s, approachRate: -23.138971 m/s, LOS rate: -0.021365 deg/s, posRepo size: 4
2021-08-15T02:34:54.690Z,1628994894.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.940002 m,
      bearing: 2.721089 deg,
      approachRate: -23.138971 m/s,
      LOS rate: -0.021365 deg/s,
      cmd update: -0.085460 deg/s,
      cmd heading: 347.903472 deg,
      new cmd heading: 347.624791 deg.

2021-08-15T02:34:56.788Z,1628994896.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:34:57.146Z,1628994897.146 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:34:57.146Z,1628994897.146 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:34:57.146Z,1628994897.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:34:57.147Z,1628994897.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:34:57.550Z,1628994897.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,0081A,187,80,80,B4,FF
2021-08-15T02:34:57.550Z,1628994897.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:34:57.550Z,1628994897.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:34:57.551Z,1628994897.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:34:57.953Z,1628994897.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:34:58.382Z,1628994898.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,00E37,187,80,80,B4,FF
2021-08-15T02:34:58.383Z,1628994898.383 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:34:58.817Z,1628994898.817 [Micromodem](INFO): Nmea in: $SNTTA,0.129446,,,,023458.87*4B

2021-08-15T02:34:58.854Z,1628994898.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.839996 m, bearing: 2.939289 deg, deltaT: 4.152483 s, approachRate: 22.612974 m/s, LOS rate: 0.052547 deg/s, posRepo size: 4
2021-08-15T02:34:58.856Z,1628994898.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.839996 m,
      bearing: 2.939289 deg,
      approachRate: 22.612974 m/s,
      LOS rate: 0.052547 deg/s,
      cmd update: 0.210187 deg/s,
      cmd heading: 347.548604 deg,
      new cmd heading: 347.512471 deg.

2021-08-15T02:35:01.251Z,1628994901.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:35:01.619Z,1628994901.619 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:35:01.619Z,1628994901.619 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:35:01.620Z,1628994901.620 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:35:01.622Z,1628994901.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:35:02.013Z,1628994902.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,00E37,187,80,80,B4,FF
2021-08-15T02:35:02.013Z,1628994902.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:35:02.013Z,1628994902.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:35:02.015Z,1628994902.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:35:02.095Z,1628994902.095 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T02:35:02.433Z,1628994902.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:35:02.821Z,1628994902.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,00E37,187,80,80,B4,FF
2021-08-15T02:35:02.822Z,1628994902.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:35:03.274Z,1628994903.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.839996 m, bearing: 3.188517 deg, deltaT: 4.466561 s, approachRate: 0.000000 m/s, LOS rate: 0.055799 deg/s, posRepo size: 4
2021-08-15T02:35:03.276Z,1628994903.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.839996 m,
      bearing: 3.188517 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.055799 deg/s,
      cmd update: 0.223194 deg/s,
      cmd heading: 348.487403 deg,
      new cmd heading: 348.566505 deg.

2021-08-15T02:35:05.716Z,1628994905.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:35:06.053Z,1628994906.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:35:06.053Z,1628994906.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:35:06.053Z,1628994906.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:35:06.054Z,1628994906.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:35:06.397Z,1628994906.397 [CTD_Seabird](ERROR): Failed to parse device response: 5.87,24.899.61
2021-08-15T02:35:06.461Z,1628994906.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F43,000,00E37,187,80,80,B4,FF
2021-08-15T02:35:06.461Z,1628994906.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:35:06.461Z,1628994906.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:35:06.464Z,1628994906.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:35:06.913Z,1628994906.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:35:07.274Z,1628994907.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,00E37,187,80,80,B4,FF
2021-08-15T02:35:07.274Z,1628994907.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:35:07.721Z,1628994907.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023507.79*53

2021-08-15T02:35:07.758Z,1628994907.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.839996 m, bearing: 3.170598 deg, deltaT: 4.403755 s, approachRate: 0.000000 m/s, LOS rate: -0.004069 deg/s, posRepo size: 4
2021-08-15T02:35:07.760Z,1628994907.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.839996 m,
      bearing: 3.170598 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.004069 deg/s,
      cmd update: -0.016276 deg/s,
      cmd heading: 349.469180 deg,
      new cmd heading: 349.572230 deg.

2021-08-15T02:35:10.174Z,1628994910.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:35:10.514Z,1628994910.514 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:35:10.514Z,1628994910.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:35:10.514Z,1628994910.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:35:10.515Z,1628994910.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:35:10.905Z,1628994910.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,00E37,187,80,80,B4,FF
2021-08-15T02:35:10.905Z,1628994910.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:35:10.905Z,1628994910.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:35:10.907Z,1628994910.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:35:11.316Z,1628994911.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:35:11.718Z,1628994911.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,00E37,187,80,80,B4,FF
2021-08-15T02:35:11.718Z,1628994911.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:35:12.130Z,1628994912.130 [Micromodem](INFO): Nmea in: $SNTTA,0.116311,0.376497,,,023512.23*55

2021-08-15T02:35:12.157Z,1628994912.157 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:35:12.171Z,1628994912.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.839996 m, bearing: 3.892322 deg, deltaT: 4.481650 s, approachRate: 0.000000 m/s, LOS rate: 0.161040 deg/s, posRepo size: 4
2021-08-15T02:35:12.173Z,1628994912.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.839996 m,
      bearing: 3.892322 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.161040 deg/s,
      cmd update: 0.644159 deg/s,
      cmd heading: 349.396223 deg,
      new cmd heading: 349.389853 deg.

2021-08-15T02:35:14.563Z,1628994914.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:35:14.945Z,1628994914.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:35:14.945Z,1628994914.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:35:14.946Z,1628994914.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:35:14.947Z,1628994914.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:35:15.354Z,1628994915.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,00E37,187,80,80,B4,FF
2021-08-15T02:35:15.354Z,1628994915.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:35:15.354Z,1628994915.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:35:15.383Z,1628994915.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:35:15.753Z,1628994915.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:35:16.555Z,1628994916.555 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,00D5F,187,80,80,B4,FF
2021-08-15T02:35:16.557Z,1628994916.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:35:16.563Z,1628994916.563 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023516.71*5B

2021-08-15T02:35:17.016Z,1628994917.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.880005 m, bearing: 3.677219 deg, deltaT: 4.837539 s, approachRate: -2.679046 m/s, LOS rate: -0.044465 deg/s, posRepo size: 4
2021-08-15T02:35:17.018Z,1628994917.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.880005 m,
      bearing: 3.677219 deg,
      approachRate: -2.679046 m/s,
      LOS rate: -0.044465 deg/s,
      cmd update: -0.177861 deg/s,
      cmd heading: 352.506968 deg,
      new cmd heading: 352.769759 deg.

2021-08-15T02:35:19.415Z,1628994919.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:35:19.793Z,1628994919.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:35:19.793Z,1628994919.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:35:19.794Z,1628994919.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:35:19.795Z,1628994919.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:35:20.212Z,1628994920.212 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,00D5F,187,80,80,B4,FF
2021-08-15T02:35:20.213Z,1628994920.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:35:20.213Z,1628994920.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:35:20.214Z,1628994920.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:35:20.609Z,1628994920.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:35:21.010Z,1628994921.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,00D5F,187,80,80,B4,FF
2021-08-15T02:35:21.010Z,1628994921.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:35:21.433Z,1628994921.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023521.54*58

2021-08-15T02:35:21.454Z,1628994921.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.880005 m, bearing: 3.519459 deg, deltaT: 4.453767 s, approachRate: 0.000000 m/s, LOS rate: -0.035422 deg/s, posRepo size: 4
2021-08-15T02:35:21.460Z,1628994921.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.880005 m,
      bearing: 3.519459 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.035422 deg/s,
      cmd update: -0.141686 deg/s,
      cmd heading: 351.713295 deg,
      new cmd heading: 351.645113 deg.

2021-08-15T02:35:21.910Z,1628994921.910 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T02:35:23.956Z,1628994923.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:35:24.246Z,1628994924.246 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:35:24.246Z,1628994924.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:35:24.247Z,1628994924.247 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:35:24.247Z,1628994924.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:35:24.653Z,1628994924.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F52,000,00D5F,187,80,80,B4,FF
2021-08-15T02:35:24.653Z,1628994924.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:35:24.654Z,1628994924.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:35:24.660Z,1628994924.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:35:25.062Z,1628994925.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:35:25.445Z,1628994925.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,00D5F,187,80,80,B4,FF
2021-08-15T02:35:25.446Z,1628994925.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:35:25.913Z,1628994925.913 [Micromodem](INFO): Nmea in: $SNTTA,0.109736,,,,023525.98*48

2021-08-15T02:35:25.969Z,1628994925.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.880005 m, bearing: 4.380169 deg, deltaT: 4.442372 s, approachRate: 0.000000 m/s, LOS rate: 0.193750 deg/s, posRepo size: 4
2021-08-15T02:35:25.971Z,1628994925.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.880005 m,
      bearing: 4.380169 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.193750 deg/s,
      cmd update: 0.775000 deg/s,
      cmd heading: 351.084470 deg,
      new cmd heading: 351.019257 deg.

2021-08-15T02:35:28.324Z,1628994928.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:35:28.697Z,1628994928.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:35:28.697Z,1628994928.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:35:28.697Z,1628994928.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:35:28.698Z,1628994928.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:35:29.082Z,1628994929.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,00D5F,187,80,80,B4,FF
2021-08-15T02:35:29.082Z,1628994929.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:35:29.083Z,1628994929.083 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:35:29.101Z,1628994929.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:35:29.484Z,1628994929.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:35:29.933Z,1628994929.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,00CBC,187,80,80,C1,FF
2021-08-15T02:35:29.933Z,1628994929.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:35:30.325Z,1628994930.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023530.42*5F

2021-08-15T02:35:30.347Z,1628994930.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.100006 m, bearing: 4.360731 deg, deltaT: 4.540861 s, approachRate: -2.153776 m/s, LOS rate: -0.004281 deg/s, posRepo size: 4
2021-08-15T02:35:30.350Z,1628994930.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.100006 m,
      bearing: 4.360731 deg,
      approachRate: -2.153776 m/s,
      LOS rate: -0.004281 deg/s,
      cmd update: -0.017123 deg/s,
      cmd heading: 354.597653 deg,
      new cmd heading: 354.834490 deg.

2021-08-15T02:35:31.975Z,1628994931.975 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T02:35:32.746Z,1628994932.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:35:33.135Z,1628994933.135 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:35:33.136Z,1628994933.136 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:35:33.136Z,1628994933.136 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:35:33.137Z,1628994933.137 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:35:33.525Z,1628994933.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,00CBC,187,80,80,C1,FF
2021-08-15T02:35:33.525Z,1628994933.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:35:33.525Z,1628994933.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:35:33.527Z,1628994933.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:35:33.956Z,1628994933.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:35:34.338Z,1628994934.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,00C88,186,80,80,C1,FF
2021-08-15T02:35:34.338Z,1628994934.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:35:34.808Z,1628994934.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.979996 m, bearing: 4.405148 deg, deltaT: 4.335760 s, approachRate: -0.719599 m/s, LOS rate: 0.010244 deg/s, posRepo size: 4
2021-08-15T02:35:34.810Z,1628994934.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.979996 m,
      bearing: 4.405148 deg,
      approachRate: -0.719599 m/s,
      LOS rate: 0.010244 deg/s,
      cmd update: 0.040977 deg/s,
      cmd heading: 354.523208 deg,
      new cmd heading: 354.516047 deg.

2021-08-15T02:35:37.235Z,1628994937.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:35:37.569Z,1628994937.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:35:37.569Z,1628994937.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:35:37.569Z,1628994937.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:35:37.570Z,1628994937.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:35:37.981Z,1628994937.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,00C88,186,80,80,C1,FF
2021-08-15T02:35:37.981Z,1628994937.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:35:37.981Z,1628994937.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:35:37.983Z,1628994937.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:35:38.389Z,1628994938.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:35:38.782Z,1628994938.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,00C50,187,80,80,C1,FF
2021-08-15T02:35:38.782Z,1628994938.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:35:39.226Z,1628994939.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023539.31*52

2021-08-15T02:35:39.250Z,1628994939.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.620010 m, bearing: 3.767112 deg, deltaT: 4.481836 s, approachRate: -0.749690 m/s, LOS rate: -0.142360 deg/s, posRepo size: 4
2021-08-15T02:35:39.252Z,1628994939.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.620010 m,
      bearing: 3.767112 deg,
      approachRate: -0.749690 m/s,
      LOS rate: -0.142360 deg/s,
      cmd update: -0.569441 deg/s,
      cmd heading: 354.706836 deg,
      new cmd heading: 354.722273 deg.

2021-08-15T02:35:41.682Z,1628994941.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:35:42.009Z,1628994942.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:35:42.009Z,1628994942.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:35:42.009Z,1628994942.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:35:42.010Z,1628994942.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:35:42.419Z,1628994942.419 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,00C50,187,80,80,C1,FF
2021-08-15T02:35:42.419Z,1628994942.419 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:35:42.419Z,1628994942.419 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:35:42.421Z,1628994942.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:35:42.830Z,1628994942.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:35:43.226Z,1628994943.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA0,000,00C19,186,80,80,B9,FF
2021-08-15T02:35:43.226Z,1628994943.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:35:43.690Z,1628994943.690 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023543.74*5E

2021-08-15T02:35:43.750Z,1628994943.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.320007 m, bearing: 4.475454 deg, deltaT: 4.392838 s, approachRate: -0.751224 m/s, LOS rate: 0.161249 deg/s, posRepo size: 4
2021-08-15T02:35:43.772Z,1628994943.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.320007 m,
      bearing: 4.475454 deg,
      approachRate: -0.751224 m/s,
      LOS rate: 0.161249 deg/s,
      cmd update: 0.644997 deg/s,
      cmd heading: 352.202739 deg,
      new cmd heading: 351.928302 deg.

2021-08-15T02:35:46.102Z,1628994946.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:35:46.465Z,1628994946.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:35:46.465Z,1628994946.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:35:46.465Z,1628994946.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:35:46.466Z,1628994946.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:35:46.878Z,1628994946.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA0,000,00C19,186,80,80,B9,FF
2021-08-15T02:35:46.879Z,1628994946.879 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:35:46.881Z,1628994946.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:35:46.885Z,1628994946.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:35:47.265Z,1628994947.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:35:47.701Z,1628994947.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,00BE3,186,80,80,4F,FF
2021-08-15T02:35:47.701Z,1628994947.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:35:48.086Z,1628994948.086 [Micromodem](INFO): Nmea in: $SNTTA,0.099524,0.387709,,,023548.21*54

2021-08-15T02:35:48.152Z,1628994948.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.080002 m, bearing: 4.090907 deg, deltaT: 4.522460 s, approachRate: -0.716425 m/s, LOS rate: -0.085030 deg/s, posRepo size: 4
2021-08-15T02:35:48.154Z,1628994948.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.080002 m,
      bearing: 4.090907 deg,
      approachRate: -0.716425 m/s,
      LOS rate: -0.085030 deg/s,
      cmd update: -0.340122 deg/s,
      cmd heading: 355.111965 deg,
      new cmd heading: 355.336585 deg.

2021-08-15T02:35:50.539Z,1628994950.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:35:50.897Z,1628994950.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:35:50.897Z,1628994950.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:35:50.897Z,1628994950.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:35:50.898Z,1628994950.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:35:51.301Z,1628994951.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,00BE3,186,80,80,4F,FF
2021-08-15T02:35:51.301Z,1628994951.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:35:51.301Z,1628994951.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:35:51.303Z,1628994951.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:35:51.721Z,1628994951.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:35:52.114Z,1628994952.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,00BAE,187,80,80,A9,FF
2021-08-15T02:35:52.115Z,1628994952.115 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:35:52.119Z,1628994952.119 [Micromodem](INFO): Nmea in: $SNTTA,0.217523,0.217454,,,023552.63*59

2021-08-15T02:35:52.168Z,1628994952.168 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T02:35:52.551Z,1628994952.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.899994 m, bearing: 3.999070 deg, deltaT: 4.405477 s, approachRate: -0.721831 m/s, LOS rate: -0.020846 deg/s, posRepo size: 4
2021-08-15T02:35:52.554Z,1628994952.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.899994 m,
      bearing: 3.999070 deg,
      approachRate: -0.721831 m/s,
      LOS rate: -0.020846 deg/s,
      cmd update: -0.083384 deg/s,
      cmd heading: 353.610927 deg,
      new cmd heading: 353.488665 deg.

2021-08-15T02:35:54.982Z,1628994954.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:35:55.345Z,1628994955.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:35:55.345Z,1628994955.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:35:55.345Z,1628994955.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:35:55.346Z,1628994955.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:35:55.749Z,1628994955.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,00BAE,187,80,80,A9,FF
2021-08-15T02:35:55.750Z,1628994955.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:35:55.750Z,1628994955.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:35:55.751Z,1628994955.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:35:56.171Z,1628994956.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:35:56.565Z,1628994956.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,00B7A,186,80,80,9A,FF
2021-08-15T02:35:56.565Z,1628994956.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:35:57.002Z,1628994957.002 [Micromodem](INFO): Nmea in: $SNTTA,0.100893,,,,023557.07*42

2021-08-15T02:35:57.027Z,1628994957.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.779999 m, bearing: 5.006151 deg, deltaT: 4.424726 s, approachRate: -0.705127 m/s, LOS rate: 0.227603 deg/s, posRepo size: 4
2021-08-15T02:35:57.030Z,1628994957.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.779999 m,
      bearing: 5.006151 deg,
      approachRate: -0.705127 m/s,
      LOS rate: 0.227603 deg/s,
      cmd update: 0.910412 deg/s,
      cmd heading: 353.242300 deg,
      new cmd heading: 353.207724 deg.

2021-08-15T02:35:59.403Z,1628994959.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:35:59.785Z,1628994959.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:35:59.785Z,1628994959.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:35:59.785Z,1628994959.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:35:59.786Z,1628994959.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:36:00.193Z,1628994960.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,00B7A,186,80,80,9A,FF
2021-08-15T02:36:00.193Z,1628994960.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:36:00.193Z,1628994960.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:36:00.195Z,1628994960.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:36:00.597Z,1628994960.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:36:01.014Z,1628994961.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,00B45,185,80,80,92,FF
2021-08-15T02:36:01.015Z,1628994961.015 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:36:01.441Z,1628994961.441 [Micromodem](INFO): Nmea in: $SNTTA,,0.094732,,,023601.52*4A

2021-08-15T02:36:01.463Z,1628994961.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.600006 m, bearing: 3.792539 deg, deltaT: 4.451845 s, approachRate: -0.714309 m/s, LOS rate: -0.272609 deg/s, posRepo size: 4
2021-08-15T02:36:01.466Z,1628994961.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.600006 m,
      bearing: 3.792539 deg,
      approachRate: -0.714309 m/s,
      LOS rate: -0.272609 deg/s,
      cmd update: -1.090436 deg/s,
      cmd heading: 357.283817 deg,
      new cmd heading: 357.658418 deg.

2021-08-15T02:36:02.260Z,1628994962.260 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-15T02:36:02.260Z,1628994962.260 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-15T02:36:02.260Z,1628994962.260 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-15T02:36:02.417Z,1628994962.417 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-15T02:36:02.732Z,1628994962.732 [RDI_Pathfinder](INFO): Powering down
2021-08-15T02:36:03.524Z,1628994963.524 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-15T02:36:03.524Z,1628994963.524 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-15T02:36:03.874Z,1628994963.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:36:04.229Z,1628994964.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:36:04.229Z,1628994964.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:36:04.229Z,1628994964.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:36:04.230Z,1628994964.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:36:04.665Z,1628994964.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,00B45,185,80,80,92,FF
2021-08-15T02:36:04.665Z,1628994964.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:36:04.665Z,1628994964.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:36:04.667Z,1628994964.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:36:05.037Z,1628994965.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:36:05.850Z,1628994965.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023605.99*5C

2021-08-15T02:36:06.705Z,1628994966.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:36:08.265Z,1628994968.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,185,80,80,92,FF
2021-08-15T02:36:08.265Z,1628994968.265 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,185,80,80,92,FF
2021-08-15T02:36:08.266Z,1628994968.266 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:36:09.507Z,1628994969.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:36:09.897Z,1628994969.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:36:09.897Z,1628994969.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:36:09.897Z,1628994969.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:36:09.898Z,1628994969.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:36:09.924Z,1628994969.924 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,185,80,80,92,FF
2021-08-15T02:36:09.924Z,1628994969.924 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:36:09.924Z,1628994969.924 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:36:09.926Z,1628994969.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:36:10.296Z,1628994970.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:36:11.119Z,1628994971.119 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023611.25*5E

2021-08-15T02:36:12.339Z,1628994972.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:36:13.521Z,1628994973.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,185,80,80,92,FF
2021-08-15T02:36:13.521Z,1628994973.521 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,185,80,80,92,FF
2021-08-15T02:36:13.521Z,1628994973.521 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:36:15.158Z,1628994975.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:36:15.537Z,1628994975.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:36:15.537Z,1628994975.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:36:15.537Z,1628994975.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:36:15.538Z,1628994975.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:36:15.950Z,1628994975.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,185,80,80,92,FF
2021-08-15T02:36:15.950Z,1628994975.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:36:15.950Z,1628994975.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:36:15.952Z,1628994975.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:36:16.353Z,1628994976.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:36:16.758Z,1628994976.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,00A83,186,80,80,A6,FF
2021-08-15T02:36:16.758Z,1628994976.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:36:17.177Z,1628994977.177 [Micromodem](INFO): Nmea in: $SNTTA,0.082381,0.323387,,,023617.28*5B

2021-08-15T02:36:17.199Z,1628994977.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.959999 m, bearing: 5.971111 deg, deltaT: 15.779126 s, approachRate: -0.737684 m/s, LOS rate: 0.138067 deg/s, posRepo size: 4
2021-08-15T02:36:17.226Z,1628994977.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.959999 m,
      bearing: 5.971111 deg,
      approachRate: -0.737684 m/s,
      LOS rate: 0.138067 deg/s,
      cmd update: 0.552267 deg/s,
      cmd heading: 340.059405 deg,
      new cmd heading: 339.676208 deg.

2021-08-15T02:36:19.605Z,1628994979.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:36:19.990Z,1628994979.990 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:36:19.990Z,1628994979.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:36:19.990Z,1628994979.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:36:19.991Z,1628994979.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:36:20.389Z,1628994980.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,00A83,186,80,80,A6,FF
2021-08-15T02:36:20.389Z,1628994980.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:36:20.390Z,1628994980.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:36:20.391Z,1628994980.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:36:20.797Z,1628994980.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:36:21.217Z,1628994981.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,00A52,187,80,80,B9,FF
2021-08-15T02:36:21.218Z,1628994981.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:36:21.664Z,1628994981.664 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023621.72*5F

2021-08-15T02:36:21.691Z,1628994981.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.019997 m, bearing: 9.479680 deg, deltaT: 4.382403 s, approachRate: -0.670865 m/s, LOS rate: 0.800604 deg/s, posRepo size: 4
2021-08-15T02:36:21.695Z,1628994981.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.019997 m,
      bearing: 9.479680 deg,
      approachRate: -0.670865 m/s,
      LOS rate: 0.800604 deg/s,
      cmd update: 3.202415 deg/s,
      cmd heading: 342.481882 deg,
      new cmd heading: 342.733921 deg.

2021-08-15T02:36:24.063Z,1628994984.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:36:24.441Z,1628994984.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:36:24.441Z,1628994984.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:36:24.442Z,1628994984.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:36:24.443Z,1628994984.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:36:24.833Z,1628994984.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,00A52,187,80,80,B9,FF
2021-08-15T02:36:24.833Z,1628994984.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:36:24.833Z,1628994984.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:36:24.835Z,1628994984.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:36:25.249Z,1628994985.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:36:25.665Z,1628994985.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00A1D,186,80,80,A0,FF
2021-08-15T02:36:25.666Z,1628994985.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:36:26.089Z,1628994986.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023626.16*5A

2021-08-15T02:36:26.164Z,1628994986.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.840004 m, bearing: 10.941494 deg, deltaT: 4.505514 s, approachRate: -0.705800 m/s, LOS rate: 0.324450 deg/s, posRepo size: 4
2021-08-15T02:36:26.166Z,1628994986.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.840004 m,
      bearing: 10.941494 deg,
      approachRate: -0.705800 m/s,
      LOS rate: 0.324450 deg/s,
      cmd update: 1.297800 deg/s,
      cmd heading: 356.849653 deg,
      new cmd heading: 358.256323 deg.

2021-08-15T02:36:28.510Z,1628994988.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:36:28.873Z,1628994988.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:36:28.873Z,1628994988.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:36:28.873Z,1628994988.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:36:28.874Z,1628994988.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:36:29.285Z,1628994989.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00A1D,186,80,80,A0,FF
2021-08-15T02:36:29.286Z,1628994989.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:36:29.286Z,1628994989.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:36:29.289Z,1628994989.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:36:29.709Z,1628994989.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:36:30.106Z,1628994990.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,009E7,187,80,80,B6,FF
2021-08-15T02:36:30.107Z,1628994990.107 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:36:30.526Z,1628994990.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023630.61*5D

2021-08-15T02:36:30.541Z,1628994990.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.600006 m, bearing: 3.916855 deg, deltaT: 4.448434 s, approachRate: -0.728346 m/s, LOS rate: -1.579126 deg/s, posRepo size: 4
2021-08-15T02:36:30.543Z,1628994990.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.600006 m,
      bearing: 3.916855 deg,
      approachRate: -0.728346 m/s,
      LOS rate: -1.579126 deg/s,
      cmd update: -6.316506 deg/s,
      cmd heading: 2.641968 deg,
      new cmd heading: 3.105622 deg.

2021-08-15T02:36:32.146Z,1628994992.146 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T02:36:32.950Z,1628994992.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:36:33.318Z,1628994993.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:36:33.318Z,1628994993.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:36:33.318Z,1628994993.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:36:33.319Z,1628994993.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:36:33.725Z,1628994993.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,009E7,187,80,80,B6,FF
2021-08-15T02:36:33.725Z,1628994993.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:36:33.725Z,1628994993.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:36:33.727Z,1628994993.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:36:34.133Z,1628994994.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:36:34.533Z,1628994994.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,009B1,184,80,80,87,FF
2021-08-15T02:36:34.534Z,1628994994.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:36:34.975Z,1628994994.975 [Micromodem](INFO): Nmea in: $SNTTA,0.088524,,,,023635.05*47

2021-08-15T02:36:35.027Z,1628994995.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.360001 m, bearing: 2.989655 deg, deltaT: 4.362145 s, approachRate: -0.742755 m/s, LOS rate: -0.212556 deg/s, posRepo size: 4
2021-08-15T02:36:35.029Z,1628994995.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.360001 m,
      bearing: 2.989655 deg,
      approachRate: -0.742755 m/s,
      LOS rate: -0.212556 deg/s,
      cmd update: -0.850224 deg/s,
      cmd heading: 335.063397 deg,
      new cmd heading: 332.050184 deg.

2021-08-15T02:36:37.389Z,1628994997.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:36:37.761Z,1628994997.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:36:37.761Z,1628994997.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:36:37.761Z,1628994997.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:36:37.762Z,1628994997.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:36:38.173Z,1628994998.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,009B1,184,80,80,87,FF
2021-08-15T02:36:38.173Z,1628994998.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:36:38.173Z,1628994998.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:36:38.176Z,1628994998.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:36:38.577Z,1628994998.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:36:38.977Z,1628994998.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,00980,187,80,80,AF,FF
2021-08-15T02:36:38.978Z,1628994998.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:36:39.421Z,1628994999.421 [Micromodem](INFO): Nmea in: $SNTTA,0.093846,,,,023639.50*48

2021-08-15T02:36:39.440Z,1628994999.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.420006 m, bearing: 8.000130 deg, deltaT: 4.509630 s, approachRate: -0.651937 m/s, LOS rate: 1.111061 deg/s, posRepo size: 4
2021-08-15T02:36:39.442Z,1628994999.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.420006 m,
      bearing: 8.000130 deg,
      approachRate: -0.651937 m/s,
      LOS rate: 1.111061 deg/s,
      cmd update: 4.444245 deg/s,
      cmd heading: 331.232574 deg,
      new cmd heading: 330.906105 deg.

2021-08-15T02:36:41.853Z,1628995001.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:36:42.211Z,1628995002.211 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:36:42.211Z,1628995002.211 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:36:42.211Z,1628995002.211 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:36:42.212Z,1628995002.212 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:36:42.245Z,1628995002.245 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T02:36:42.609Z,1628995002.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,00980,187,80,80,AF,FF
2021-08-15T02:36:42.609Z,1628995002.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:36:42.609Z,1628995002.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:36:42.611Z,1628995002.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:36:43.016Z,1628995003.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:36:43.422Z,1628995003.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,0094C,189,80,80,9D,FF
2021-08-15T02:36:43.422Z,1628995003.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:36:43.885Z,1628995003.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023643.94*53

2021-08-15T02:36:43.960Z,1628995003.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.300003 m, bearing: 11.104455 deg, deltaT: 4.378880 s, approachRate: -0.712512 m/s, LOS rate: 0.708931 deg/s, posRepo size: 4
2021-08-15T02:36:43.962Z,1628995003.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.300003 m,
      bearing: 11.104455 deg,
      approachRate: -0.712512 m/s,
      LOS rate: 0.708931 deg/s,
      cmd update: 2.835725 deg/s,
      cmd heading: 350.710997 deg,
      new cmd heading: 353.027128 deg.

2021-08-15T02:36:46.293Z,1628995006.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:36:46.661Z,1628995006.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:36:46.661Z,1628995006.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:36:46.661Z,1628995006.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:36:46.662Z,1628995006.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:36:47.061Z,1628995007.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,0094C,189,80,80,9D,FF
2021-08-15T02:36:47.061Z,1628995007.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:36:47.061Z,1628995007.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:36:47.063Z,1628995007.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:36:47.461Z,1628995007.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:36:47.884Z,1628995007.884 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8B,000,0091B,18A,80,80,A2,FF
2021-08-15T02:36:47.885Z,1628995007.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:36:48.301Z,1628995008.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023648.39*5F

2021-08-15T02:36:48.355Z,1628995008.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.360001 m, bearing: 15.840553 deg, deltaT: 4.580003 s, approachRate: -0.641922 m/s, LOS rate: 1.034082 deg/s, posRepo size: 4
2021-08-15T02:36:48.359Z,1628995008.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.360001 m,
      bearing: 15.840553 deg,
      approachRate: -0.641922 m/s,
      LOS rate: 1.034082 deg/s,
      cmd update: 4.136327 deg/s,
      cmd heading: 3.655850 deg,
      new cmd heading: 4.651813 deg.

2021-08-15T02:36:50.752Z,1628995010.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:36:51.093Z,1628995011.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:36:51.093Z,1628995011.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:36:51.093Z,1628995011.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:36:51.094Z,1628995011.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:36:51.497Z,1628995011.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8B,000,0091B,18A,80,80,A2,FF
2021-08-15T02:36:51.497Z,1628995011.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:36:51.497Z,1628995011.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:36:51.499Z,1628995011.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:36:51.994Z,1628995011.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:36:52.044Z,1628995012.044 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T02:36:52.317Z,1628995012.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,008EC,186,80,80,BD,FF
2021-08-15T02:36:52.317Z,1628995012.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:36:52.753Z,1628995012.753 [Micromodem](INFO): Nmea in: $SNTTA,0.085184,,,,023652.83*4B

2021-08-15T02:36:52.779Z,1628995012.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.540009 m, bearing: 2.960265 deg, deltaT: 4.320160 s, approachRate: -0.652752 m/s, LOS rate: -2.981438 deg/s, posRepo size: 4
2021-08-15T02:36:52.803Z,1628995012.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.540009 m,
      bearing: 2.960265 deg,
      approachRate: -0.652752 m/s,
      LOS rate: -2.981438 deg/s,
      cmd update: -11.925750 deg/s,
      cmd heading: 21.587589 deg,
      new cmd heading: 23.407147 deg.

2021-08-15T02:36:55.167Z,1628995015.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:36:55.537Z,1628995015.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:36:55.537Z,1628995015.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:36:55.537Z,1628995015.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:36:55.538Z,1628995015.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:36:55.969Z,1628995015.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9A,000,008EC,186,80,80,BD,FF
2021-08-15T02:36:55.969Z,1628995015.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:36:55.969Z,1628995015.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:36:55.971Z,1628995015.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:36:56.365Z,1628995016.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:36:57.172Z,1628995017.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023657.30*58

2021-08-15T02:36:58.031Z,1628995018.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:36:59.577Z,1628995019.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,BD,FF
2021-08-15T02:36:59.577Z,1628995019.577 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,BD,FF
2021-08-15T02:36:59.577Z,1628995019.577 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:37:00.841Z,1628995020.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:37:01.193Z,1628995021.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:37:01.193Z,1628995021.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:37:01.193Z,1628995021.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:37:01.194Z,1628995021.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:37:01.602Z,1628995021.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,BD,FF
2021-08-15T02:37:01.603Z,1628995021.603 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:37:01.604Z,1628995021.604 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:37:01.608Z,1628995021.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:37:02.012Z,1628995022.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:37:02.413Z,1628995022.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,00875,185,80,80,A2,FF
2021-08-15T02:37:02.414Z,1628995022.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:37:02.845Z,1628995022.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023702.94*57

2021-08-15T02:37:02.882Z,1628995022.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.400002 m, bearing: 9.734326 deg, deltaT: 10.091474 s, approachRate: -0.707529 m/s, LOS rate: 0.671266 deg/s, posRepo size: 4
2021-08-15T02:37:02.889Z,1628995022.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.400002 m,
      bearing: 9.734326 deg,
      approachRate: -0.707529 m/s,
      LOS rate: 0.671266 deg/s,
      cmd update: 2.685063 deg/s,
      cmd heading: 261.235864 deg,
      new cmd heading: 255.847572 deg.

2021-08-15T02:37:05.251Z,1628995025.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:37:05.652Z,1628995025.652 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:37:05.652Z,1628995025.652 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:37:05.653Z,1628995025.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:37:05.654Z,1628995025.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:37:06.041Z,1628995026.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03A,000,00875,185,80,80,A2,FF
2021-08-15T02:37:06.041Z,1628995026.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:37:06.041Z,1628995026.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:37:06.043Z,1628995026.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:37:06.453Z,1628995026.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:37:07.282Z,1628995027.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023707.37*5B

2021-08-15T02:37:08.121Z,1628995028.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:37:09.697Z,1628995029.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,185,80,80,A2,FF
2021-08-15T02:37:09.697Z,1628995029.697 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,185,80,80,A2,FF
2021-08-15T02:37:09.697Z,1628995029.697 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:37:10.921Z,1628995030.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:37:11.293Z,1628995031.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:37:11.293Z,1628995031.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:37:11.293Z,1628995031.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:37:11.294Z,1628995031.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:37:11.705Z,1628995031.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,185,80,80,A2,FF
2021-08-15T02:37:11.705Z,1628995031.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:37:11.705Z,1628995031.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:37:11.707Z,1628995031.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:37:12.125Z,1628995032.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:37:12.506Z,1628995032.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC8,000,00804,189,80,80,7C,FF
2021-08-15T02:37:12.506Z,1628995032.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:37:12.933Z,1628995032.933 [Micromodem](INFO): Nmea in: $SNTTA,0.175454,,,,023713.03*41

2021-08-15T02:37:12.985Z,1628995032.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.620003 m, bearing: 11.829133 deg, deltaT: 10.096788 s, approachRate: -0.671501 m/s, LOS rate: 0.207473 deg/s, posRepo size: 4
2021-08-15T02:37:12.987Z,1628995032.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.620003 m,
      bearing: 11.829133 deg,
      approachRate: -0.671501 m/s,
      LOS rate: 0.207473 deg/s,
      cmd update: 0.829891 deg/s,
      cmd heading: 288.346438 deg,
      new cmd heading: 289.564364 deg.

2021-08-15T02:37:15.350Z,1628995035.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:37:15.737Z,1628995035.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:37:15.737Z,1628995035.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:37:15.737Z,1628995035.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:37:15.738Z,1628995035.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:37:16.152Z,1628995036.152 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC8,000,00804,189,80,80,7C,FF
2021-08-15T02:37:16.152Z,1628995036.152 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:37:16.152Z,1628995036.152 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:37:16.154Z,1628995036.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:37:16.549Z,1628995036.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:37:16.957Z,1628995036.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B20,000,007DE,189,80,80,9D,FF
2021-08-15T02:37:16.957Z,1628995036.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:37:17.385Z,1628995037.385 [Micromodem](INFO): Nmea in: $SNTTA,0.085338,,,,023717.48*49

2021-08-15T02:37:17.418Z,1628995037.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.340004 m, bearing: 15.601885 deg, deltaT: 4.485655 s, approachRate: -0.508287 m/s, LOS rate: 0.841071 deg/s, posRepo size: 4
2021-08-15T02:37:17.420Z,1628995037.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.340004 m,
      bearing: 15.601885 deg,
      approachRate: -0.508287 m/s,
      LOS rate: 0.841071 deg/s,
      cmd update: 3.364282 deg/s,
      cmd heading: 292.061783 deg,
      new cmd heading: 292.404779 deg.

2021-08-15T02:37:19.826Z,1628995039.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:37:20.193Z,1628995040.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:37:20.193Z,1628995040.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:37:20.193Z,1628995040.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:37:20.194Z,1628995040.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:37:20.595Z,1628995040.595 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B20,000,007DE,189,80,80,9D,FF
2021-08-15T02:37:20.595Z,1628995040.595 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:37:20.595Z,1628995040.595 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:37:20.597Z,1628995040.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:37:20.992Z,1628995040.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:37:21.401Z,1628995041.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,007CA,189,80,80,8C,FF
2021-08-15T02:37:21.402Z,1628995041.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:37:21.841Z,1628995041.841 [Micromodem](INFO): Nmea in: $SNTTA,0.060601,,,,023721.92*4F

2021-08-15T02:37:21.973Z,1628995041.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.139999 m, bearing: 2.191414 deg, deltaT: 4.450304 s, approachRate: -0.269646 m/s, LOS rate: -3.013383 deg/s, posRepo size: 4
2021-08-15T02:37:21.975Z,1628995041.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.139999 m,
      bearing: 2.191414 deg,
      approachRate: -0.269646 m/s,
      LOS rate: -3.013383 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 307.063226 deg,
      new cmd heading: 308.763924 deg.

2021-08-15T02:37:24.272Z,1628995044.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:37:24.648Z,1628995044.648 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:37:24.649Z,1628995044.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:37:24.649Z,1628995044.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:37:24.651Z,1628995044.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:37:25.042Z,1628995045.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,007CA,189,80,80,8C,FF
2021-08-15T02:37:25.042Z,1628995045.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:37:25.042Z,1628995045.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:37:25.044Z,1628995045.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:37:25.453Z,1628995045.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:37:26.267Z,1628995046.267 [Micromodem](INFO): Nmea in: $SNTTA,0.359893,0.359080,,,023726.37*52

2021-08-15T02:37:27.099Z,1628995047.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:37:28.720Z,1628995048.720 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,189,80,80,8C,FF
2021-08-15T02:37:28.720Z,1628995048.720 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,189,80,80,8C,FF
2021-08-15T02:37:28.721Z,1628995048.721 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:37:29.983Z,1628995049.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:37:30.309Z,1628995050.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:37:30.309Z,1628995050.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:37:30.309Z,1628995050.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:37:30.310Z,1628995050.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:37:30.709Z,1628995050.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,189,80,80,8C,FF
2021-08-15T02:37:30.709Z,1628995050.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:37:30.709Z,1628995050.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:37:30.711Z,1628995050.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:37:31.107Z,1628995051.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:37:31.505Z,1628995051.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BB1,000,007A1,189,80,80,A8,FF
2021-08-15T02:37:31.506Z,1628995051.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:37:31.981Z,1628995051.981 [Micromodem](INFO): Nmea in: $SNTTA,0.074985,0.488463,,,023732.04*5F

2021-08-15T02:37:32.071Z,1628995052.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.680000 m, bearing: 341.458860 deg, deltaT: 10.059748 s, approachRate: -0.244539 m/s, LOS rate: -2.060943 deg/s, posRepo size: 4
2021-08-15T02:37:32.077Z,1628995052.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.680000 m,
      bearing: 341.458860 deg,
      approachRate: -0.244539 m/s,
      LOS rate: -2.060943 deg/s,
      cmd update: -8.243771 deg/s,
      cmd heading: 186.347193 deg,
      new cmd heading: 179.778489 deg.

2021-08-15T02:37:34.027Z,1628995054.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:37:34.333Z,1628995054.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:37:34.333Z,1628995054.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:37:34.334Z,1628995054.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:37:34.334Z,1628995054.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:37:34.733Z,1628995054.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BB1,000,007A1,189,80,80,A8,FF
2021-08-15T02:37:34.733Z,1628995054.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:37:34.733Z,1628995054.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:37:34.735Z,1628995054.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:37:35.159Z,1628995055.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:37:35.541Z,1628995055.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,007A5,186,80,80,96,FF
2021-08-15T02:37:35.541Z,1628995055.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:37:35.997Z,1628995055.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023736.06*5B

2021-08-15T02:37:36.072Z,1628995056.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.920006 m, bearing: 277.500723 deg, deltaT: 4.067334 s, approachRate: 0.059008 m/s, LOS rate: -15.724830 deg/s, posRepo size: 4
2021-08-15T02:37:36.073Z,1628995056.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.724830 deg/s. Setting heading cmd to target bearing of 277.500723deg and heading rate command to 0 deg/s.
2021-08-15T02:37:38.433Z,1628995058.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:37:38.773Z,1628995058.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:37:38.773Z,1628995058.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:37:38.773Z,1628995058.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:37:38.774Z,1628995058.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:37:39.190Z,1628995059.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4F,000,007A5,186,80,80,96,FF
2021-08-15T02:37:39.190Z,1628995059.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:37:39.190Z,1628995059.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:37:39.193Z,1628995059.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:37:39.593Z,1628995059.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:37:39.985Z,1628995059.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCD,000,007B3,189,80,80,8A,FF
2021-08-15T02:37:39.985Z,1628995059.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:37:40.423Z,1628995060.423 [Micromodem](INFO): Nmea in: $SNTTA,0.126732,,,,023740.52*46

2021-08-15T02:37:40.444Z,1628995060.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.760002 m, bearing: 291.884473 deg, deltaT: 4.497291 s, approachRate: 0.186778 m/s, LOS rate: 3.198314 deg/s, posRepo size: 4
2021-08-15T02:37:40.446Z,1628995060.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.760002 m,
      bearing: 291.884473 deg,
      approachRate: 0.186778 m/s,
      LOS rate: 3.198314 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 277.500723 deg,
      new cmd heading: 277.500723 deg.

2021-08-15T02:37:42.850Z,1628995062.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:37:43.217Z,1628995063.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:37:43.217Z,1628995063.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:37:43.217Z,1628995063.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:37:43.218Z,1628995063.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:37:43.624Z,1628995063.624 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCD,000,007B3,189,80,80,8A,FF
2021-08-15T02:37:43.625Z,1628995063.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:37:43.625Z,1628995063.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:37:43.631Z,1628995063.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:37:44.037Z,1628995064.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:37:44.429Z,1628995064.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E1,000,007CC,186,80,80,94,FF
2021-08-15T02:37:44.429Z,1628995064.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:37:44.871Z,1628995064.871 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023744.96*57

2021-08-15T02:37:44.926Z,1628995064.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.259995 m, bearing: 210.651626 deg, deltaT: 4.383796 s, approachRate: 0.342167 m/s, LOS rate: -18.530252 deg/s, posRepo size: 4
2021-08-15T02:37:44.927Z,1628995064.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.530252 deg/s. Setting heading cmd to target bearing of 210.651626deg and heading rate command to 0 deg/s.
2021-08-15T02:37:47.306Z,1628995067.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:37:47.693Z,1628995067.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:37:47.693Z,1628995067.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:37:47.693Z,1628995067.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:37:47.694Z,1628995067.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:37:48.065Z,1628995068.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E1,000,007CC,186,80,80,94,FF
2021-08-15T02:37:48.065Z,1628995068.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:37:48.066Z,1628995068.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:37:48.067Z,1628995068.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:37:48.473Z,1628995068.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:37:48.869Z,1628995068.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C2,000,007F3,189,80,80,4B,FF
2021-08-15T02:37:48.870Z,1628995068.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:37:49.318Z,1628995069.318 [Micromodem](INFO): Nmea in: $SNTTA,0.064770,,,,023749.39*43

2021-08-15T02:37:49.340Z,1628995069.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.599998 m, bearing: 178.815923 deg, deltaT: 4.451367 s, approachRate: 0.525682 m/s, LOS rate: -7.151894 deg/s, posRepo size: 4
2021-08-15T02:37:49.342Z,1628995069.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.599998 m,
      bearing: 178.815923 deg,
      approachRate: 0.525682 m/s,
      LOS rate: -7.151894 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 210.651626 deg,
      new cmd heading: 210.651626 deg.

2021-08-15T02:37:51.754Z,1628995071.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:37:52.109Z,1628995072.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:37:52.109Z,1628995072.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:37:52.110Z,1628995072.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:37:52.111Z,1628995072.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:37:52.513Z,1628995072.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C2,000,007F3,189,80,80,4B,FF
2021-08-15T02:37:52.514Z,1628995072.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:37:52.514Z,1628995072.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:37:52.515Z,1628995072.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:37:52.934Z,1628995072.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:37:53.321Z,1628995073.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,0081B,186,80,80,A0,FF
2021-08-15T02:37:53.321Z,1628995073.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:37:53.753Z,1628995073.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023753.84*52

2021-08-15T02:37:53.792Z,1628995073.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.000000 m, bearing: 250.712994 deg, deltaT: 4.415523 s, approachRate: 0.543537 m/s, LOS rate: 16.282799 deg/s, posRepo size: 4
2021-08-15T02:37:53.793Z,1628995073.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.282799 deg/s. Setting heading cmd to target bearing of 250.712994deg and heading rate command to 0 deg/s.
2021-08-15T02:37:56.197Z,1628995076.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:37:56.549Z,1628995076.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:37:56.549Z,1628995076.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:37:56.549Z,1628995076.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:37:56.550Z,1628995076.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:37:56.965Z,1628995076.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,0081B,186,80,80,A0,FF
2021-08-15T02:37:56.966Z,1628995076.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:37:56.967Z,1628995076.967 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:37:56.983Z,1628995076.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:37:57.375Z,1628995077.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:37:57.769Z,1628995077.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F50,000,00839,187,80,80,80,FF
2021-08-15T02:37:57.770Z,1628995077.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:37:58.209Z,1628995078.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023758.31*57

2021-08-15T02:37:58.244Z,1628995078.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.800003 m, bearing: 228.647508 deg, deltaT: 4.578494 s, approachRate: 0.393143 m/s, LOS rate: -4.819376 deg/s, posRepo size: 4
2021-08-15T02:37:58.246Z,1628995078.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.800003 m,
      bearing: 228.647508 deg,
      approachRate: 0.393143 m/s,
      LOS rate: -4.819376 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 250.712994 deg,
      new cmd heading: 250.712994 deg.

2021-08-15T02:38:00.653Z,1628995080.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:38:00.993Z,1628995080.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:38:00.993Z,1628995080.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:38:00.993Z,1628995080.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:38:00.994Z,1628995080.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:38:01.401Z,1628995081.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F50,000,00839,187,80,80,80,FF
2021-08-15T02:38:01.401Z,1628995081.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:38:01.402Z,1628995081.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:38:01.403Z,1628995081.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:38:01.810Z,1628995081.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:38:02.660Z,1628995082.660 [Micromodem](INFO): Nmea in: $SNTTA,0.079104,,,,023802.73*44

2021-08-15T02:38:03.451Z,1628995083.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:38:03.833Z,1628995083.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC6,000,058A8,186,80,80,AC,FF
2021-08-15T02:38:03.834Z,1628995083.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:38:04.288Z,1628995084.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1324.260010 m, bearing: 221.216003 deg, deltaT: 6.027254 s, approachRate: 204.978912 m/s, LOS rate: -1.232984 deg/s, posRepo size: 4
2021-08-15T02:38:04.290Z,1628995084.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1324.260010 m,
      bearing: 221.216003 deg,
      approachRate: 204.978912 m/s,
      LOS rate: -1.232984 deg/s,
      cmd update: -4.931934 deg/s,
      cmd heading: 177.904000 deg,
      new cmd heading: 173.728900 deg.

2021-08-15T02:38:06.703Z,1628995086.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:38:07.058Z,1628995087.058 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:38:07.059Z,1628995087.059 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:38:07.059Z,1628995087.059 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:38:07.060Z,1628995087.060 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:38:07.453Z,1628995087.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC6,000,058A8,186,80,80,AC,FF
2021-08-15T02:38:07.453Z,1628995087.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:38:07.453Z,1628995087.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:38:07.455Z,1628995087.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:38:07.875Z,1628995087.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:38:08.265Z,1628995088.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7F,000,008A2,186,80,80,94,FF
2021-08-15T02:38:08.266Z,1628995088.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:38:08.726Z,1628995088.726 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023808.78*50

2021-08-15T02:38:08.751Z,1628995088.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.099998 m, bearing: 226.600692 deg, deltaT: 4.386976 s, approachRate: -280.183899 m/s, LOS rate: 1.227426 deg/s, posRepo size: 4
2021-08-15T02:38:08.754Z,1628995088.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.099998 m,
      bearing: 226.600692 deg,
      approachRate: -280.183899 m/s,
      LOS rate: 1.227426 deg/s,
      cmd update: 4.909704 deg/s,
      cmd heading: 156.386513 deg,
      new cmd heading: 154.175768 deg.

2021-08-15T02:38:11.119Z,1628995091.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:38:11.501Z,1628995091.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:38:11.501Z,1628995091.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:38:11.501Z,1628995091.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:38:11.502Z,1628995091.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:38:11.945Z,1628995091.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7F,000,008A2,186,80,80,94,FF
2021-08-15T02:38:11.945Z,1628995091.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:38:11.945Z,1628995091.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:38:11.947Z,1628995091.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:38:12.333Z,1628995092.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:38:12.737Z,1628995092.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23B,000,008D2,189,80,80,AA,FF
2021-08-15T02:38:12.738Z,1628995092.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:38:13.157Z,1628995093.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023813.28*5F

2021-08-15T02:38:13.201Z,1628995093.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.980003 m, bearing: 159.135785 deg, deltaT: 4.470610 s, approachRate: 0.644208 m/s, LOS rate: -15.090762 deg/s, posRepo size: 4
2021-08-15T02:38:13.201Z,1628995093.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.090762 deg/s. Setting heading cmd to target bearing of 159.135785deg and heading rate command to 0 deg/s.
2021-08-15T02:38:15.591Z,1628995095.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:38:15.969Z,1628995095.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:38:15.969Z,1628995095.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:38:15.969Z,1628995095.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:38:15.970Z,1628995095.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:38:16.377Z,1628995096.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23B,000,008D2,189,80,80,AA,FF
2021-08-15T02:38:16.377Z,1628995096.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:38:16.377Z,1628995096.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:38:16.379Z,1628995096.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:38:16.792Z,1628995096.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:38:17.189Z,1628995097.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,008FF,185,80,80,70,FF
2021-08-15T02:38:17.189Z,1628995097.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:38:17.636Z,1628995097.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023817.71*57

2021-08-15T02:38:17.685Z,1628995097.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.680000 m, bearing: 197.200880 deg, deltaT: 4.443099 s, approachRate: 0.607683 m/s, LOS rate: 8.567240 deg/s, posRepo size: 4
2021-08-15T02:38:17.687Z,1628995097.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.680000 m,
      bearing: 197.200880 deg,
      approachRate: 0.607683 m/s,
      LOS rate: 8.567240 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 159.135785 deg,
      new cmd heading: 159.135785 deg.

2021-08-15T02:38:20.063Z,1628995100.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:38:20.413Z,1628995100.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:38:20.413Z,1628995100.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:38:20.414Z,1628995100.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:38:20.414Z,1628995100.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:38:20.824Z,1628995100.824 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,008FF,185,80,80,70,FF
2021-08-15T02:38:20.824Z,1628995100.824 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:38:20.825Z,1628995100.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:38:20.826Z,1628995100.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:38:21.233Z,1628995101.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:38:21.636Z,1628995101.636 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFE,000,0092A,187,80,80,7D,FF
2021-08-15T02:38:21.638Z,1628995101.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:38:22.090Z,1628995102.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023822.15*53

2021-08-15T02:38:22.151Z,1628995102.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.260010 m, bearing: 198.452116 deg, deltaT: 4.455240 s, approachRate: 0.579095 m/s, LOS rate: 0.280846 deg/s, posRepo size: 4
2021-08-15T02:38:22.158Z,1628995102.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.260010 m,
      bearing: 198.452116 deg,
      approachRate: 0.579095 m/s,
      LOS rate: 0.280846 deg/s,
      cmd update: 1.123384 deg/s,
      cmd heading: 212.695399 deg,
      new cmd heading: 218.110951 deg.

2021-08-15T02:38:24.471Z,1628995104.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:38:24.857Z,1628995104.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:38:24.857Z,1628995104.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:38:24.857Z,1628995104.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:38:24.858Z,1628995104.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:38:25.257Z,1628995105.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFE,000,0092A,187,80,80,7D,FF
2021-08-15T02:38:25.257Z,1628995105.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:38:25.257Z,1628995105.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:38:25.259Z,1628995105.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:38:25.704Z,1628995105.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:38:26.065Z,1628995106.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,00955,185,80,80,87,FF
2021-08-15T02:38:26.066Z,1628995106.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:38:26.501Z,1628995106.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023826.60*55

2021-08-15T02:38:26.544Z,1628995106.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.840004 m, bearing: 204.599601 deg, deltaT: 4.402485 s, approachRate: 0.586031 m/s, LOS rate: 1.396367 deg/s, posRepo size: 4
2021-08-15T02:38:26.546Z,1628995106.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.840004 m,
      bearing: 204.599601 deg,
      approachRate: 0.586031 m/s,
      LOS rate: 1.396367 deg/s,
      cmd update: 5.585468 deg/s,
      cmd heading: 217.641327 deg,
      new cmd heading: 218.114295 deg.

2021-08-15T02:38:28.934Z,1628995108.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:38:29.298Z,1628995109.298 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:38:29.298Z,1628995109.298 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:38:29.299Z,1628995109.299 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:38:29.300Z,1628995109.300 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:38:29.713Z,1628995109.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,00955,185,80,80,87,FF
2021-08-15T02:38:29.713Z,1628995109.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:38:29.713Z,1628995109.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:38:29.715Z,1628995109.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:38:30.109Z,1628995110.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:38:30.518Z,1628995110.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,0097F,186,80,80,AA,FF
2021-08-15T02:38:30.518Z,1628995110.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:38:30.949Z,1628995110.949 [Micromodem](INFO): Nmea in: $SNTTA,,0.175273,,,023831.04*4A

2021-08-15T02:38:30.975Z,1628995110.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.360001 m, bearing: 211.754101 deg, deltaT: 4.432560 s, approachRate: 0.568519 m/s, LOS rate: 1.614079 deg/s, posRepo size: 4
2021-08-15T02:38:31.007Z,1628995111.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.360001 m,
      bearing: 211.754101 deg,
      approachRate: 0.568519 m/s,
      LOS rate: 1.614079 deg/s,
      cmd update: 6.456314 deg/s,
      cmd heading: 242.399126 deg,
      new cmd heading: 244.857318 deg.

2021-08-15T02:38:33.371Z,1628995113.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:38:33.741Z,1628995113.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:38:33.741Z,1628995113.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:38:33.741Z,1628995113.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:38:33.742Z,1628995113.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:38:34.146Z,1628995114.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,0097F,186,80,80,AA,FF
2021-08-15T02:38:34.146Z,1628995114.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:38:34.146Z,1628995114.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:38:34.148Z,1628995114.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:38:34.561Z,1628995114.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:38:35.382Z,1628995115.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023835.47*52

2021-08-15T02:38:35.979Z,1628995115.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:38:36.581Z,1628995116.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,051FD,187,80,80,6A,FF
2021-08-15T02:38:36.581Z,1628995116.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:38:37.049Z,1628995117.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1221.839966 m, bearing: 240.781626 deg, deltaT: 6.135909 s, approachRate: 181.469437 m/s, LOS rate: 4.730762 deg/s, posRepo size: 4
2021-08-15T02:38:37.051Z,1628995117.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1221.839966 m,
      bearing: 240.781626 deg,
      approachRate: 181.469437 m/s,
      LOS rate: 4.730762 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 281.949843 deg,
      new cmd heading: 284.454803 deg.

2021-08-15T02:38:39.433Z,1628995119.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:38:39.804Z,1628995119.804 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:38:39.804Z,1628995119.804 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:38:39.805Z,1628995119.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:38:39.805Z,1628995119.805 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:38:40.217Z,1628995120.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,051FD,187,80,80,6A,FF
2021-08-15T02:38:40.217Z,1628995120.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:38:40.218Z,1628995120.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:38:40.219Z,1628995120.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:38:40.632Z,1628995120.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:38:41.021Z,1628995121.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,009D9,186,80,80,81,FF
2021-08-15T02:38:41.022Z,1628995121.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:38:41.449Z,1628995121.449 [Micromodem](INFO): Nmea in: $SNTTA,0.157719,,,,023841.55*40

2021-08-15T02:38:41.492Z,1628995121.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.760002 m, bearing: 240.529210 deg, deltaT: 4.367594 s, approachRate: -253.704895 m/s, LOS rate: -0.057793 deg/s, posRepo size: 4
2021-08-15T02:38:41.494Z,1628995121.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.760002 m,
      bearing: 240.529210 deg,
      approachRate: -253.704895 m/s,
      LOS rate: -0.057793 deg/s,
      cmd update: -0.231172 deg/s,
      cmd heading: 334.481284 deg,
      new cmd heading: 339.676540 deg.

2021-08-15T02:38:43.947Z,1628995123.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:38:44.257Z,1628995124.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:38:44.257Z,1628995124.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:38:44.258Z,1628995124.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:38:44.259Z,1628995124.259 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:38:44.666Z,1628995124.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,009D9,186,80,80,81,FF
2021-08-15T02:38:44.666Z,1628995124.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:38:44.666Z,1628995124.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:38:44.667Z,1628995124.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:38:45.065Z,1628995125.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:38:45.461Z,1628995125.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE1,000,009F2,189,80,80,BF,FF
2021-08-15T02:38:45.461Z,1628995125.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:38:45.909Z,1628995125.909 [Micromodem](INFO): Nmea in: $SNTTA,0.162378,,,,023846.00*42

2021-08-15T02:38:45.996Z,1628995125.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.259995 m, bearing: 309.648156 deg, deltaT: 4.440239 s, approachRate: 0.337818 m/s, LOS rate: 15.566493 deg/s, posRepo size: 4
2021-08-15T02:38:46.001Z,1628995126.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.566493 deg/s. Setting heading cmd to target bearing of 309.648156deg and heading rate command to 0 deg/s.
2021-08-15T02:38:47.987Z,1628995127.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:38:48.297Z,1628995128.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:38:48.297Z,1628995128.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:38:48.297Z,1628995128.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:38:48.298Z,1628995128.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:38:48.702Z,1628995128.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE1,000,009F2,189,80,80,BF,FF
2021-08-15T02:38:48.702Z,1628995128.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:38:48.702Z,1628995128.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:38:48.704Z,1628995128.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:38:49.128Z,1628995129.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:38:49.505Z,1628995129.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCE,000,009F5,188,80,80,AD,FF
2021-08-15T02:38:49.506Z,1628995129.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:38:50.012Z,1628995130.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.440010 m, bearing: 315.970316 deg, deltaT: 4.075783 s, approachRate: 0.044167 m/s, LOS rate: 1.551152 deg/s, posRepo size: 4
2021-08-15T02:38:50.014Z,1628995130.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.440010 m,
      bearing: 315.970316 deg,
      approachRate: 0.044167 m/s,
      LOS rate: 1.551152 deg/s,
      cmd update: 6.204609 deg/s,
      cmd heading: 309.648156 deg,
      new cmd heading: 309.648156 deg.

2021-08-15T02:38:52.066Z,1628995132.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:38:52.322Z,1628995132.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:38:52.322Z,1628995132.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:38:52.323Z,1628995132.323 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:38:52.324Z,1628995132.324 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:38:52.729Z,1628995132.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCE,000,009F5,188,80,80,AD,FF
2021-08-15T02:38:52.729Z,1628995132.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:38:52.730Z,1628995132.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:38:52.731Z,1628995132.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:38:53.155Z,1628995133.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:38:53.545Z,1628995133.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8F,000,009F1,189,80,80,A2,FF
2021-08-15T02:38:53.546Z,1628995133.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:38:54.047Z,1628995134.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.200005 m, bearing: 334.678122 deg, deltaT: 4.027552 s, approachRate: -0.059591 m/s, LOS rate: 4.644957 deg/s, posRepo size: 4
2021-08-15T02:38:54.049Z,1628995134.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.200005 m,
      bearing: 334.678122 deg,
      approachRate: -0.059591 m/s,
      LOS rate: 4.644957 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 334.662582 deg,
      new cmd heading: 337.543357 deg.

2021-08-15T02:38:56.426Z,1628995136.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:38:56.769Z,1628995136.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:38:56.769Z,1628995136.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:38:56.769Z,1628995136.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:38:56.770Z,1628995136.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:38:57.186Z,1628995137.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8F,000,009F1,189,80,80,A2,FF
2021-08-15T02:38:57.186Z,1628995137.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:38:57.186Z,1628995137.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:38:57.189Z,1628995137.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:38:57.589Z,1628995137.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:38:58.430Z,1628995138.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023858.52*5D

2021-08-15T02:38:59.219Z,1628995139.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:39:00.818Z,1628995140.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,A2,FF
2021-08-15T02:39:00.818Z,1628995140.818 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,A2,FF
2021-08-15T02:39:00.818Z,1628995140.818 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:39:02.138Z,1628995142.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:39:02.443Z,1628995142.443 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:39:02.443Z,1628995142.443 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:39:02.443Z,1628995142.443 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:39:02.444Z,1628995142.444 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:39:02.826Z,1628995142.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,A2,FF
2021-08-15T02:39:02.826Z,1628995142.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:39:02.826Z,1628995142.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:39:02.827Z,1628995142.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:39:03.237Z,1628995143.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:39:03.652Z,1628995143.652 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5A,000,009B5,189,80,80,AA,FF
2021-08-15T02:39:03.654Z,1628995143.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:39:04.082Z,1628995144.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023904.15*56

2021-08-15T02:39:04.122Z,1628995144.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.599998 m, bearing: 20.738124 deg, deltaT: 10.170934 s, approachRate: -0.353950 m/s, LOS rate: 4.528591 deg/s, posRepo size: 4
2021-08-15T02:39:04.146Z,1628995144.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.599998 m,
      bearing: 20.738124 deg,
      approachRate: -0.353950 m/s,
      LOS rate: 4.528591 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 96.612382 deg,
      new cmd heading: 101.129014 deg.

2021-08-15T02:39:06.494Z,1628995146.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:39:06.869Z,1628995146.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:39:06.869Z,1628995146.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:39:06.869Z,1628995146.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:39:06.870Z,1628995146.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:39:07.273Z,1628995147.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5A,000,009B5,189,80,80,AA,FF
2021-08-15T02:39:07.273Z,1628995147.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:39:07.274Z,1628995147.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:39:07.275Z,1628995147.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:39:07.704Z,1628995147.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:39:08.081Z,1628995148.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBE,000,0098C,189,80,80,6E,FF
2021-08-15T02:39:08.081Z,1628995148.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:39:08.529Z,1628995148.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023908.61*59

2021-08-15T02:39:08.548Z,1628995148.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.139999 m, bearing: 32.959942 deg, deltaT: 4.418624 s, approachRate: -0.556734 m/s, LOS rate: 2.765978 deg/s, posRepo size: 4
2021-08-15T02:39:08.550Z,1628995148.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.139999 m,
      bearing: 32.959942 deg,
      approachRate: -0.556734 m/s,
      LOS rate: 2.765978 deg/s,
      cmd update: 11.063913 deg/s,
      cmd heading: 149.601539 deg,
      new cmd heading: 154.251383 deg.

2021-08-15T02:39:11.034Z,1628995151.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:39:11.313Z,1628995151.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:39:11.313Z,1628995151.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:39:11.313Z,1628995151.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:39:11.314Z,1628995151.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:39:11.725Z,1628995151.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBE,000,0098C,189,80,80,6E,FF
2021-08-15T02:39:11.725Z,1628995151.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:39:11.725Z,1628995151.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:39:11.727Z,1628995151.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:39:12.135Z,1628995152.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:39:12.533Z,1628995152.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F74,000,0095E,187,80,80,AE,FF
2021-08-15T02:39:12.533Z,1628995152.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:39:12.969Z,1628995152.969 [Micromodem](INFO): Nmea in: $SNTTA,0.079536,,,,023913.06*42

2021-08-15T02:39:13.012Z,1628995153.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.379997 m, bearing: 28.538386 deg, deltaT: 4.378362 s, approachRate: -0.630373 m/s, LOS rate: -1.009865 deg/s, posRepo size: 4
2021-08-15T02:39:13.014Z,1628995153.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.379997 m,
      bearing: 28.538386 deg,
      approachRate: -0.630373 m/s,
      LOS rate: -1.009865 deg/s,
      cmd update: -4.039461 deg/s,
      cmd heading: 198.168819 deg,
      new cmd heading: 203.273763 deg.

2021-08-15T02:39:15.381Z,1628995155.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:39:15.761Z,1628995155.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:39:15.761Z,1628995155.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:39:15.761Z,1628995155.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:39:15.762Z,1628995155.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:39:16.169Z,1628995156.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F74,000,0095E,187,80,80,AE,FF
2021-08-15T02:39:16.169Z,1628995156.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:39:16.169Z,1628995156.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:39:16.171Z,1628995156.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:39:16.573Z,1628995156.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:39:16.969Z,1628995156.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,0092B,185,80,80,9B,FF
2021-08-15T02:39:16.969Z,1628995156.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:39:17.418Z,1628995157.418 [Micromodem](INFO): Nmea in: $SNTTA,0.407040,,,,023917.50*4C

2021-08-15T02:39:17.434Z,1628995157.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.320000 m, bearing: 24.436404 deg, deltaT: 4.497511 s, approachRate: -0.680376 m/s, LOS rate: -0.912056 deg/s, posRepo size: 4
2021-08-15T02:39:17.436Z,1628995157.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.320000 m,
      bearing: 24.436404 deg,
      approachRate: -0.680376 m/s,
      LOS rate: -0.912056 deg/s,
      cmd update: -3.648225 deg/s,
      cmd heading: 180.109104 deg,
      new cmd heading: 178.442507 deg.

2021-08-15T02:39:19.839Z,1628995159.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:39:20.205Z,1628995160.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:39:20.205Z,1628995160.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:39:20.205Z,1628995160.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:39:20.206Z,1628995160.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:39:20.609Z,1628995160.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,0092B,185,80,80,9B,FF
2021-08-15T02:39:20.609Z,1628995160.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:39:20.609Z,1628995160.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:39:20.611Z,1628995160.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:39:21.023Z,1628995161.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:39:21.409Z,1628995161.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,366,000,008F9,189,80,80,A1,FF
2021-08-15T02:39:21.410Z,1628995161.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:39:21.869Z,1628995161.869 [Micromodem](INFO): Nmea in: $SNTTA,0.073120,,,,023921.94*41

2021-08-15T02:39:21.955Z,1628995161.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.320007 m, bearing: 15.764317 deg, deltaT: 4.402825 s, approachRate: -0.681379 m/s, LOS rate: -1.969664 deg/s, posRepo size: 4
2021-08-15T02:39:21.961Z,1628995161.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.320007 m,
      bearing: 15.764317 deg,
      approachRate: -0.681379 m/s,
      LOS rate: -1.969664 deg/s,
      cmd update: -7.878657 deg/s,
      cmd heading: 164.037108 deg,
      new cmd heading: 162.108507 deg.

2021-08-15T02:39:24.290Z,1628995164.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:39:24.657Z,1628995164.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:39:24.657Z,1628995164.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:39:24.658Z,1628995164.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:39:24.659Z,1628995164.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:39:25.049Z,1628995165.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
366,000,008F9,189,80,80,A1,FF
2021-08-15T02:39:25.049Z,1628995165.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:39:25.049Z,1628995165.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:39:25.051Z,1628995165.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:39:25.461Z,1628995165.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:39:25.862Z,1628995165.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008D7,18A,80,80,BE,FF
2021-08-15T02:39:25.880Z,1628995165.880 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:39:26.305Z,1628995166.305 [Micromodem](INFO): Nmea in: $SNTTA,,0.357353,,,023926.38*43

2021-08-15T02:39:26.365Z,1628995166.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.280006 m, bearing: 11.896539 deg, deltaT: 4.513621 s, approachRate: -0.451965 m/s, LOS rate: -0.856912 deg/s, posRepo size: 4
2021-08-15T02:39:26.367Z,1628995166.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.280006 m,
      bearing: 11.896539 deg,
      approachRate: -0.451965 m/s,
      LOS rate: -0.856912 deg/s,
      cmd update: -3.427650 deg/s,
      cmd heading: 128.293968 deg,
      new cmd heading: 125.160981 deg.

2021-08-15T02:39:28.757Z,1628995168.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:39:29.089Z,1628995169.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:39:29.089Z,1628995169.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:39:29.089Z,1628995169.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:39:29.090Z,1628995169.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:39:29.493Z,1628995169.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008D7,18A,80,80,BE,FF
2021-08-15T02:39:29.493Z,1628995169.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:39:29.493Z,1628995169.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:39:29.495Z,1628995169.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:39:29.944Z,1628995169.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:39:30.301Z,1628995170.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D48,000,008B8,189,80,80,B8,FF
2021-08-15T02:39:30.302Z,1628995170.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:39:30.750Z,1628995170.750 [Micromodem](INFO): Nmea in: $SNTTA,0.072712,,,,023930.82*40

2021-08-15T02:39:30.780Z,1628995170.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.420006 m, bearing: 127.062009 deg, deltaT: 4.359719 s, approachRate: -0.426633 m/s, LOS rate: 26.415801 deg/s, posRepo size: 4
2021-08-15T02:39:30.781Z,1628995170.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 26.415801 deg/s. Setting heading cmd to target bearing of 127.062009deg and heading rate command to 0 deg/s.
2021-08-15T02:39:33.177Z,1628995173.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:39:33.537Z,1628995173.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:39:33.537Z,1628995173.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:39:33.537Z,1628995173.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:39:33.538Z,1628995173.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:39:33.957Z,1628995173.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D48,000,008B8,189,80,80,B8,FF
2021-08-15T02:39:33.957Z,1628995173.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:39:33.957Z,1628995173.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:39:33.959Z,1628995173.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:39:34.348Z,1628995174.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:39:34.749Z,1628995174.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008A8,189,80,80,91,FF
2021-08-15T02:39:34.750Z,1628995174.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:39:35.177Z,1628995175.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023935.29*5B

2021-08-15T02:39:35.211Z,1628995175.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.459999 m, bearing: 45.190359 deg, deltaT: 4.491714 s, approachRate: -0.213728 m/s, LOS rate: -18.227261 deg/s, posRepo size: 4
2021-08-15T02:39:35.213Z,1628995175.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.227261 deg/s. Setting heading cmd to target bearing of 45.190359deg and heading rate command to 0 deg/s.
2021-08-15T02:39:37.614Z,1628995177.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:39:37.981Z,1628995177.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:39:37.981Z,1628995177.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:39:37.981Z,1628995177.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:39:37.982Z,1628995177.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:39:38.385Z,1628995178.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008A8,189,80,80,91,FF
2021-08-15T02:39:38.386Z,1628995178.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:39:38.386Z,1628995178.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:39:38.387Z,1628995178.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:39:38.801Z,1628995178.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:39:39.189Z,1628995179.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10C,000,008AE,186,80,80,4D,FF
2021-08-15T02:39:39.190Z,1628995179.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:39:39.660Z,1628995179.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023939.71*5A

2021-08-15T02:39:39.687Z,1628995179.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.820007 m, bearing: 111.750036 deg, deltaT: 4.391564 s, approachRate: 0.081977 m/s, LOS rate: 15.156258 deg/s, posRepo size: 4
2021-08-15T02:39:39.688Z,1628995179.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.156258 deg/s. Setting heading cmd to target bearing of 111.750036deg and heading rate command to 0 deg/s.
2021-08-15T02:39:42.097Z,1628995182.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:39:42.421Z,1628995182.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:39:42.421Z,1628995182.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:39:42.421Z,1628995182.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:39:42.422Z,1628995182.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:39:42.833Z,1628995182.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10C,000,008AE,186,80,80,4D,FF
2021-08-15T02:39:42.834Z,1628995182.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:39:42.834Z,1628995182.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:39:42.836Z,1628995182.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:39:43.237Z,1628995183.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:39:44.889Z,1628995184.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:39:46.061Z,1628995186.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,076EF,189,80,80,8E,FF
2021-08-15T02:39:46.062Z,1628995186.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:39:46.488Z,1628995186.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1789.320068 m, bearing: 45.884531 deg, deltaT: 6.938834 s, approachRate: 244.061172 m/s, LOS rate: -9.492302 deg/s, posRepo size: 4
2021-08-15T02:39:46.490Z,1628995186.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1789.320068 m,
      bearing: 45.884531 deg,
      approachRate: 244.061172 m/s,
      LOS rate: -9.492302 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 111.750036 deg,
      new cmd heading: 111.750036 deg.

2021-08-15T02:39:48.923Z,1628995188.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:39:49.308Z,1628995189.308 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:39:49.308Z,1628995189.308 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:39:49.309Z,1628995189.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:39:49.310Z,1628995189.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:39:49.705Z,1628995189.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,076EF,189,80,80,8E,FF
2021-08-15T02:39:49.705Z,1628995189.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:39:49.705Z,1628995189.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:39:49.707Z,1628995189.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:39:50.120Z,1628995190.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:39:51.757Z,1628995191.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:39:53.341Z,1628995193.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,8E,FF
2021-08-15T02:39:53.341Z,1628995193.341 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,8E,FF
2021-08-15T02:39:53.341Z,1628995193.341 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:39:54.567Z,1628995194.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:39:54.962Z,1628995194.962 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:39:54.962Z,1628995194.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:39:54.962Z,1628995194.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:39:54.963Z,1628995194.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:39:55.354Z,1628995195.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,8E,FF
2021-08-15T02:39:55.354Z,1628995195.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:39:55.354Z,1628995195.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:39:55.356Z,1628995195.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:39:55.779Z,1628995195.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:39:56.161Z,1628995196.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008AC,188,80,80,93,FF
2021-08-15T02:39:56.162Z,1628995196.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:39:56.597Z,1628995196.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023956.68*5B

2021-08-15T02:39:56.666Z,1628995196.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.699997 m, bearing: 24.339220 deg, deltaT: 10.076225 s, approachRate: -168.080811 m/s, LOS rate: -2.138232 deg/s, posRepo size: 4
2021-08-15T02:39:56.672Z,1628995196.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.699997 m,
      bearing: 24.339220 deg,
      approachRate: -168.080811 m/s,
      LOS rate: -2.138232 deg/s,
      cmd update: -8.552929 deg/s,
      cmd heading: 350.954649 deg,
      new cmd heading: 345.341300 deg.

2021-08-15T02:39:59.038Z,1628995199.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:39:59.397Z,1628995199.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:39:59.397Z,1628995199.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:39:59.397Z,1628995199.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:39:59.398Z,1628995199.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:39:59.798Z,1628995199.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008AC,188,80,80,93,FF
2021-08-15T02:39:59.798Z,1628995199.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:39:59.798Z,1628995199.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:39:59.800Z,1628995199.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:40:00.200Z,1628995200.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:40:01.031Z,1628995201.031 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024001.13*5B

2021-08-15T02:40:01.846Z,1628995201.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:40:03.429Z,1628995203.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,188,80,80,93,FF
2021-08-15T02:40:03.429Z,1628995203.429 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,188,80,80,93,FF
2021-08-15T02:40:03.429Z,1628995203.429 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:40:04.728Z,1628995204.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:40:05.041Z,1628995205.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:40:05.041Z,1628995205.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:40:05.041Z,1628995205.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:40:05.042Z,1628995205.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:40:05.455Z,1628995205.455 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,188,80,80,93,FF
2021-08-15T02:40:05.455Z,1628995205.455 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:40:05.455Z,1628995205.455 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:40:05.457Z,1628995205.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:40:05.888Z,1628995205.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:40:06.257Z,1628995206.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37D,000,00872,189,80,80,8A,FF
2021-08-15T02:40:06.258Z,1628995206.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:40:06.723Z,1628995206.723 [Micromodem](INFO): Nmea in: $SNTTA,0.441585,,,,024006.79*47

2021-08-15T02:40:06.749Z,1628995206.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.220001 m, bearing: 8.727585 deg, deltaT: 10.144765 s, approachRate: -0.343034 m/s, LOS rate: -1.538886 deg/s, posRepo size: 4
2021-08-15T02:40:06.751Z,1628995206.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.220001 m,
      bearing: 8.727585 deg,
      approachRate: -0.343034 m/s,
      LOS rate: -1.538886 deg/s,
      cmd update: -6.155543 deg/s,
      cmd heading: 264.017089 deg,
      new cmd heading: 260.713760 deg.

2021-08-15T02:40:09.120Z,1628995209.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:40:09.489Z,1628995209.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:40:09.489Z,1628995209.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:40:09.489Z,1628995209.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:40:09.490Z,1628995209.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:40:09.932Z,1628995209.932 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37D,000,00872,189,80,80,8A,FF
2021-08-15T02:40:09.933Z,1628995209.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:40:09.933Z,1628995209.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:40:09.934Z,1628995209.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:40:10.305Z,1628995210.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:40:10.709Z,1628995210.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,260,000,00842,189,80,80,92,FF
2021-08-15T02:40:10.710Z,1628995210.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:40:11.123Z,1628995211.123 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024011.26*5C

2021-08-15T02:40:11.174Z,1628995211.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.340004 m, bearing: 6.457881 deg, deltaT: 4.408341 s, approachRate: -0.653306 m/s, LOS rate: -0.514866 deg/s, posRepo size: 4
2021-08-15T02:40:11.177Z,1628995211.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.340004 m,
      bearing: 6.457881 deg,
      approachRate: -0.653306 m/s,
      LOS rate: -0.514866 deg/s,
      cmd update: -2.059463 deg/s,
      cmd heading: 236.857250 deg,
      new cmd heading: 234.411241 deg.

2021-08-15T02:40:13.567Z,1628995213.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:40:13.957Z,1628995213.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:40:13.957Z,1628995213.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:40:13.957Z,1628995213.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:40:13.958Z,1628995213.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:40:14.345Z,1628995214.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
260,000,00842,189,80,80,92,FF
2021-08-15T02:40:14.346Z,1628995214.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:40:14.346Z,1628995214.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:40:14.347Z,1628995214.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:40:14.748Z,1628995214.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:40:15.142Z,1628995215.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F7,000,0080F,186,80,80,92,FF
2021-08-15T02:40:15.142Z,1628995215.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:40:15.585Z,1628995215.585 [Micromodem](INFO): Nmea in: $SNTTA,0.078696,,,,024015.67*45

2021-08-15T02:40:15.658Z,1628995215.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.280006 m, bearing: 8.526253 deg, deltaT: 4.412329 s, approachRate: -0.693511 m/s, LOS rate: 0.468771 deg/s, posRepo size: 4
2021-08-15T02:40:15.664Z,1628995215.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.280006 m,
      bearing: 8.526253 deg,
      approachRate: -0.693511 m/s,
      LOS rate: 0.468771 deg/s,
      cmd update: 1.875084 deg/s,
      cmd heading: 227.778172 deg,
      new cmd heading: 226.801395 deg.

2021-08-15T02:40:18.050Z,1628995218.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:40:18.377Z,1628995218.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:40:18.377Z,1628995218.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:40:18.377Z,1628995218.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:40:18.378Z,1628995218.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:40:18.775Z,1628995218.775 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F7,000,0080F,186,80,80,92,FF
2021-08-15T02:40:18.775Z,1628995218.775 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:40:18.775Z,1628995218.775 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:40:18.777Z,1628995218.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:40:19.193Z,1628995219.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:40:19.593Z,1628995219.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,007E0,186,80,80,91,FF
2021-08-15T02:40:19.594Z,1628995219.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:40:20.021Z,1628995220.021 [Micromodem](INFO): Nmea in: $SNTTA,0.490862,,,,024020.11*45

2021-08-15T02:40:20.105Z,1628995220.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.460007 m, bearing: 10.907104 deg, deltaT: 4.481516 s, approachRate: -0.629251 m/s, LOS rate: 0.531260 deg/s, posRepo size: 4
2021-08-15T02:40:20.113Z,1628995220.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.460007 m,
      bearing: 10.907104 deg,
      approachRate: -0.629251 m/s,
      LOS rate: 0.531260 deg/s,
      cmd update: 2.125041 deg/s,
      cmd heading: 236.086698 deg,
      new cmd heading: 236.964063 deg.

2021-08-15T02:40:22.443Z,1628995222.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:40:22.821Z,1628995222.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:40:22.821Z,1628995222.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:40:22.821Z,1628995222.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:40:22.822Z,1628995222.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:40:23.225Z,1628995223.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,007E0,186,80,80,91,FF
2021-08-15T02:40:23.225Z,1628995223.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:40:23.225Z,1628995223.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:40:23.227Z,1628995223.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:40:23.644Z,1628995223.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:40:24.033Z,1628995224.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEC,000,007B0,188,80,80,BD,FF
2021-08-15T02:40:24.033Z,1628995224.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:40:24.465Z,1628995224.465 [Micromodem](INFO): Nmea in: $SNTTA,0.061680,,,,024024.55*49

2021-08-15T02:40:24.513Z,1628995224.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.580009 m, bearing: 14.206800 deg, deltaT: 4.424365 s, approachRate: -0.650940 m/s, LOS rate: 0.745801 deg/s, posRepo size: 4
2021-08-15T02:40:24.515Z,1628995224.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.580009 m,
      bearing: 14.206800 deg,
      approachRate: -0.650940 m/s,
      LOS rate: 0.745801 deg/s,
      cmd update: 2.983204 deg/s,
      cmd heading: 245.598319 deg,
      new cmd heading: 246.496776 deg.

2021-08-15T02:40:26.912Z,1628995226.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:40:27.275Z,1628995227.275 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:40:27.275Z,1628995227.275 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:40:27.275Z,1628995227.275 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:40:27.276Z,1628995227.276 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:40:27.693Z,1628995227.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEC,000,007B0,188,80,80,BD,FF
2021-08-15T02:40:27.693Z,1628995227.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:40:27.693Z,1628995227.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:40:27.695Z,1628995227.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:40:28.078Z,1628995228.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:40:28.893Z,1628995228.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024029.02*51

2021-08-15T02:40:29.745Z,1628995229.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:40:31.313Z,1628995231.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,188,80,80,BD,FF
2021-08-15T02:40:31.313Z,1628995231.313 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,188,80,80,BD,FF
2021-08-15T02:40:31.313Z,1628995231.313 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:40:32.535Z,1628995232.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:40:32.929Z,1628995232.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:40:32.929Z,1628995232.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:40:32.929Z,1628995232.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:40:32.929Z,1628995232.929 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:40:33.325Z,1628995233.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,188,80,80,BD,FF
2021-08-15T02:40:33.325Z,1628995233.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:40:33.325Z,1628995233.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:40:33.327Z,1628995233.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:40:33.736Z,1628995233.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:40:34.134Z,1628995234.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0075B,189,80,80,CC,FF
2021-08-15T02:40:34.135Z,1628995234.135 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:40:34.139Z,1628995234.139 [Micromodem](INFO): Nmea in: $SNTTA,0.177517,0.177411,,,024034.66*58

2021-08-15T02:40:34.580Z,1628995234.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.479996 m, bearing: 11.274948 deg, deltaT: 10.132708 s, approachRate: -0.503322 m/s, LOS rate: -0.289345 deg/s, posRepo size: 4
2021-08-15T02:40:34.582Z,1628995234.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.479996 m,
      bearing: 11.274948 deg,
      approachRate: -0.503322 m/s,
      LOS rate: -0.289345 deg/s,
      cmd update: -1.157381 deg/s,
      cmd heading: 275.822641 deg,
      new cmd heading: 276.890485 deg.

2021-08-15T02:40:37.010Z,1628995237.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:40:37.361Z,1628995237.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:40:37.361Z,1628995237.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:40:37.361Z,1628995237.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:40:37.362Z,1628995237.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:40:37.778Z,1628995237.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0075B,189,80,80,CC,FF
2021-08-15T02:40:37.778Z,1628995237.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:40:37.778Z,1628995237.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:40:37.780Z,1628995237.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:40:38.190Z,1628995238.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:40:38.577Z,1628995238.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0074F,189,80,80,AB,FF
2021-08-15T02:40:38.577Z,1628995238.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:40:39.022Z,1628995239.022 [Micromodem](INFO): Nmea in: $SNTTA,0.067987,,,,024039.11*4B

2021-08-15T02:40:39.048Z,1628995239.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.760002 m, bearing: 354.223009 deg, deltaT: 4.427066 s, approachRate: -0.162634 m/s, LOS rate: -3.851747 deg/s, posRepo size: 4
2021-08-15T02:40:39.050Z,1628995239.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.760002 m,
      bearing: 354.223009 deg,
      approachRate: -0.162634 m/s,
      LOS rate: -3.851747 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 270.738801 deg,
      new cmd heading: 270.237461 deg.

2021-08-15T02:40:41.431Z,1628995241.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:40:41.817Z,1628995241.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:40:41.817Z,1628995241.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:40:41.817Z,1628995241.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:40:41.818Z,1628995241.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:40:42.217Z,1628995242.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0074F,189,80,80,AB,FF
2021-08-15T02:40:42.217Z,1628995242.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:40:42.218Z,1628995242.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:40:42.219Z,1628995242.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:40:42.634Z,1628995242.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:40:43.450Z,1628995243.450 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024043.55*5F

2021-08-15T02:40:43.936Z,1628995243.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:40:45.872Z,1628995245.872 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,AB,FF
2021-08-15T02:40:45.873Z,1628995245.873 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,AB,FF
2021-08-15T02:40:45.874Z,1628995245.874 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:40:46.745Z,1628995246.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:40:47.061Z,1628995247.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:40:47.061Z,1628995247.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:40:47.061Z,1628995247.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:40:47.062Z,1628995247.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:40:47.470Z,1628995247.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,AB,FF
2021-08-15T02:40:47.470Z,1628995247.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:40:47.470Z,1628995247.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:40:47.472Z,1628995247.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:40:47.919Z,1628995247.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:40:48.273Z,1628995248.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13E,000,0075F,186,80,80,89,FF
2021-08-15T02:40:48.273Z,1628995248.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:40:48.730Z,1628995248.730 [Micromodem](INFO): Nmea in: $SNTTA,0.072323,,,,024048.80*45

2021-08-15T02:40:48.760Z,1628995248.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.720001 m, bearing: 238.462504 deg, deltaT: 9.637133 s, approachRate: 0.099615 m/s, LOS rate: -12.011923 deg/s, posRepo size: 4
2021-08-15T02:40:48.761Z,1628995248.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.011923 deg/s. Setting heading cmd to target bearing of 238.462504deg and heading rate command to 0 deg/s.
2021-08-15T02:40:51.126Z,1628995251.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:40:51.513Z,1628995251.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:40:51.513Z,1628995251.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:40:51.513Z,1628995251.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:40:51.514Z,1628995251.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:40:51.957Z,1628995251.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13E,000,0075F,186,80,80,89,FF
2021-08-15T02:40:51.957Z,1628995251.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:40:51.957Z,1628995251.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:40:51.959Z,1628995251.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:40:52.325Z,1628995252.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:40:52.721Z,1628995252.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB1,000,00777,189,80,80,8B,FF
2021-08-15T02:40:52.721Z,1628995252.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:40:53.139Z,1628995253.139 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024053.29*55

2021-08-15T02:40:53.180Z,1628995253.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.160004 m, bearing: 264.137021 deg, deltaT: 4.482946 s, approachRate: 0.321218 m/s, LOS rate: 5.727153 deg/s, posRepo size: 4
2021-08-15T02:40:53.182Z,1628995253.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.160004 m,
      bearing: 264.137021 deg,
      approachRate: 0.321218 m/s,
      LOS rate: 5.727153 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 238.462504 deg,
      new cmd heading: 238.462504 deg.

2021-08-15T02:40:55.567Z,1628995255.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:40:55.976Z,1628995255.976 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:40:55.976Z,1628995255.976 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:40:55.976Z,1628995255.976 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:40:55.977Z,1628995255.977 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:40:56.354Z,1628995256.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB1,000,00777,189,80,80,8B,FF
2021-08-15T02:40:56.354Z,1628995256.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:40:56.354Z,1628995256.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:40:56.355Z,1628995256.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:40:56.760Z,1628995256.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:40:57.199Z,1628995257.199 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,0079F,184,80,80,86,FF
2021-08-15T02:40:57.199Z,1628995257.199 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:40:57.597Z,1628995257.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024057.68*54

2021-08-15T02:40:57.674Z,1628995257.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.559998 m, bearing: 221.307254 deg, deltaT: 4.446264 s, approachRate: 0.539778 m/s, LOS rate: -9.632754 deg/s, posRepo size: 4
2021-08-15T02:40:57.677Z,1628995257.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.559998 m,
      bearing: 221.307254 deg,
      approachRate: 0.539778 m/s,
      LOS rate: -9.632754 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 291.820770 deg,
      new cmd heading: 297.279642 deg.

2021-08-15T02:41:00.085Z,1628995260.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:41:00.393Z,1628995260.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:41:00.393Z,1628995260.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:41:00.393Z,1628995260.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:41:00.394Z,1628995260.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:41:00.797Z,1628995260.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,0079F,184,80,80,86,FF
2021-08-15T02:41:00.797Z,1628995260.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:41:00.798Z,1628995260.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:41:00.799Z,1628995260.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:41:01.201Z,1628995261.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:41:01.605Z,1628995261.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F2,000,007C5,188,80,80,6F,FF
2021-08-15T02:41:01.605Z,1628995261.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:41:02.053Z,1628995262.053 [Micromodem](INFO): Nmea in: $SNTTA,0.478479,0.478497,,,024102.13*59

2021-08-15T02:41:02.151Z,1628995262.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.839996 m, bearing: 176.105213 deg, deltaT: 4.449615 s, approachRate: 0.512404 m/s, LOS rate: -10.158641 deg/s, posRepo size: 4
2021-08-15T02:41:02.159Z,1628995262.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.839996 m,
      bearing: 176.105213 deg,
      approachRate: 0.512404 m/s,
      LOS rate: -10.158641 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 238.778872 deg,
      new cmd heading: 233.112628 deg.

2021-08-15T02:41:04.463Z,1628995264.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:41:04.845Z,1628995264.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:41:04.845Z,1628995264.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:41:04.845Z,1628995264.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:41:04.846Z,1628995264.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:41:05.245Z,1628995265.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F2,000,007C5,188,80,80,6F,FF
2021-08-15T02:41:05.245Z,1628995265.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:41:05.245Z,1628995265.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:41:05.247Z,1628995265.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:41:05.689Z,1628995265.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:41:06.061Z,1628995266.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,007F7,187,80,80,92,FF
2021-08-15T02:41:06.061Z,1628995266.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:41:06.501Z,1628995266.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024106.58*52

2021-08-15T02:41:06.524Z,1628995266.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.840004 m, bearing: 239.237238 deg, deltaT: 4.480940 s, approachRate: 0.669504 m/s, LOS rate: 14.089014 deg/s, posRepo size: 4
2021-08-15T02:41:06.525Z,1628995266.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.089014 deg/s. Setting heading cmd to target bearing of 239.237238deg and heading rate command to 0 deg/s.
2021-08-15T02:41:08.914Z,1628995268.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:41:09.281Z,1628995269.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:41:09.281Z,1628995269.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:41:09.281Z,1628995269.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:41:09.282Z,1628995269.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:41:09.712Z,1628995269.712 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,007F7,187,80,80,92,FF
2021-08-15T02:41:09.712Z,1628995269.712 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:41:09.713Z,1628995269.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:41:09.714Z,1628995269.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:41:10.101Z,1628995270.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:41:10.501Z,1628995270.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,00814,186,80,80,99,FF
2021-08-15T02:41:10.501Z,1628995270.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:41:10.918Z,1628995270.918 [Micromodem](INFO): Nmea in: $SNTTA,0.023454,,,,024111.04*47

2021-08-15T02:41:10.965Z,1628995270.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.579994 m, bearing: 258.163174 deg, deltaT: 4.404492 s, approachRate: 0.395049 m/s, LOS rate: 4.296962 deg/s, posRepo size: 4
2021-08-15T02:41:10.967Z,1628995270.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.579994 m,
      bearing: 258.163174 deg,
      approachRate: 0.395049 m/s,
      LOS rate: 4.296962 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 239.237238 deg,
      new cmd heading: 239.237238 deg.

2021-08-15T02:41:13.360Z,1628995273.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:41:13.746Z,1628995273.746 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:41:13.746Z,1628995273.746 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:41:13.746Z,1628995273.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:41:13.747Z,1628995273.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:41:14.134Z,1628995274.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,00814,186,80,80,99,FF
2021-08-15T02:41:14.134Z,1628995274.134 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:41:14.134Z,1628995274.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:41:14.174Z,1628995274.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:41:14.552Z,1628995274.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:41:14.941Z,1628995274.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,00838,189,80,80,52,FF
2021-08-15T02:41:14.941Z,1628995274.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:41:15.379Z,1628995275.379 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024115.50*58

2021-08-15T02:41:15.400Z,1628995275.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.740005 m, bearing: 201.239421 deg, deltaT: 4.462162 s, approachRate: 0.484073 m/s, LOS rate: -12.756989 deg/s, posRepo size: 4
2021-08-15T02:41:15.401Z,1628995275.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.756989 deg/s. Setting heading cmd to target bearing of 201.239421deg and heading rate command to 0 deg/s.
2021-08-15T02:41:17.830Z,1628995277.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:41:18.177Z,1628995278.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:41:18.177Z,1628995278.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:41:18.177Z,1628995278.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:41:18.178Z,1628995278.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:41:18.582Z,1628995278.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,00838,189,80,80,52,FF
2021-08-15T02:41:18.582Z,1628995278.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:41:18.582Z,1628995278.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:41:18.585Z,1628995278.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:41:18.981Z,1628995278.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:41:19.383Z,1628995279.383 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9C,000,00859,189,80,80,7C,FF
2021-08-15T02:41:19.383Z,1628995279.383 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:41:19.821Z,1628995279.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024119.91*59

2021-08-15T02:41:19.928Z,1628995279.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.720001 m, bearing: 279.248514 deg, deltaT: 4.420411 s, approachRate: 0.447921 m/s, LOS rate: 17.647476 deg/s, posRepo size: 4
2021-08-15T02:41:19.929Z,1628995279.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.647476 deg/s. Setting heading cmd to target bearing of 279.248514deg and heading rate command to 0 deg/s.
2021-08-15T02:41:22.261Z,1628995282.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:41:22.621Z,1628995282.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:41:22.621Z,1628995282.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:41:22.622Z,1628995282.622 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:41:22.624Z,1628995282.624 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:41:23.024Z,1628995283.024 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9C,000,00859,189,80,80,7C,FF
2021-08-15T02:41:23.025Z,1628995283.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:41:23.025Z,1628995283.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:41:23.026Z,1628995283.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:41:23.421Z,1628995283.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:41:23.826Z,1628995283.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,00875,186,80,80,8B,FF
2021-08-15T02:41:23.826Z,1628995283.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:41:24.243Z,1628995284.243 [Micromodem](INFO): Nmea in: $SNTTA,0.368514,0.368577,,,024124.35*5C

2021-08-15T02:41:24.310Z,1628995284.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.400002 m, bearing: 275.462240 deg, deltaT: 4.515920 s, approachRate: 0.372017 m/s, LOS rate: -0.838428 deg/s, posRepo size: 4
2021-08-15T02:41:24.312Z,1628995284.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.400002 m,
      bearing: 275.462240 deg,
      approachRate: 0.372017 m/s,
      LOS rate: -0.838428 deg/s,
      cmd update: -3.353713 deg/s,
      cmd heading: 279.248514 deg,
      new cmd heading: 279.248514 deg.

2021-08-15T02:41:26.736Z,1628995286.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:41:27.072Z,1628995287.072 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:41:27.073Z,1628995287.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:41:27.073Z,1628995287.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:41:27.074Z,1628995287.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:41:27.461Z,1628995287.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,00875,186,80,80,8B,FF
2021-08-15T02:41:27.461Z,1628995287.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:41:27.461Z,1628995287.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:41:27.463Z,1628995287.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:41:27.903Z,1628995287.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:41:28.269Z,1628995288.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D2,000,00882,189,80,80,74,FF
2021-08-15T02:41:28.269Z,1628995288.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:41:28.721Z,1628995288.721 [Micromodem](INFO): Nmea in: $SNTTA,0.088457,,,,024128.79*45

2021-08-15T02:41:28.772Z,1628995288.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.180000 m, bearing: 243.799696 deg, deltaT: 4.366228 s, approachRate: 0.178644 m/s, LOS rate: -7.251693 deg/s, posRepo size: 4
2021-08-15T02:41:28.774Z,1628995288.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.180000 m,
      bearing: 243.799696 deg,
      approachRate: 0.178644 m/s,
      LOS rate: -7.251693 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 264.566152 deg,
      new cmd heading: 263.075255 deg.

2021-08-15T02:41:30.929Z,1628995290.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:41:31.101Z,1628995291.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:41:31.101Z,1628995291.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:41:31.101Z,1628995291.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:41:31.102Z,1628995291.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:41:31.505Z,1628995291.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D2,000,00882,189,80,80,74,FF
2021-08-15T02:41:31.505Z,1628995291.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:41:31.505Z,1628995291.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:41:31.507Z,1628995291.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:41:31.952Z,1628995291.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:41:32.309Z,1628995292.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D88,000,00887,18A,80,80,82,FF
2021-08-15T02:41:32.309Z,1628995292.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:41:32.753Z,1628995292.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024132.84*54

2021-08-15T02:41:32.801Z,1628995292.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.480003 m, bearing: 313.160813 deg, deltaT: 4.007094 s, approachRate: 0.074868 m/s, LOS rate: 17.309581 deg/s, posRepo size: 4
2021-08-15T02:41:32.802Z,1628995292.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.309581 deg/s. Setting heading cmd to target bearing of 313.160813deg and heading rate command to 0 deg/s.
2021-08-15T02:41:35.177Z,1628995295.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:41:35.549Z,1628995295.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:41:35.549Z,1628995295.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:41:35.549Z,1628995295.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:41:35.550Z,1628995295.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:41:35.961Z,1628995295.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D88,000,00887,18A,80,80,82,FF
2021-08-15T02:41:35.961Z,1628995295.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:41:35.962Z,1628995295.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:41:35.963Z,1628995295.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:41:36.466Z,1628995296.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:41:36.845Z,1628995296.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,0089A,189,80,80,5E,FF
2021-08-15T02:41:36.845Z,1628995296.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:41:37.262Z,1628995297.262 [Micromodem](INFO): Nmea in: $SNTTA,0.071535,,,,024137.29*4D

2021-08-15T02:41:37.306Z,1628995297.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.619995 m, bearing: 234.015723 deg, deltaT: 4.572029 s, approachRate: 0.249340 m/s, LOS rate: -17.310715 deg/s, posRepo size: 4
2021-08-15T02:41:37.307Z,1628995297.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.310715 deg/s. Setting heading cmd to target bearing of 234.015723deg and heading rate command to 0 deg/s.
2021-08-15T02:41:39.756Z,1628995299.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:41:40.089Z,1628995300.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:41:40.089Z,1628995300.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:41:40.089Z,1628995300.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:41:40.090Z,1628995300.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:41:40.481Z,1628995300.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,0089A,189,80,80,5E,FF
2021-08-15T02:41:40.481Z,1628995300.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:41:40.481Z,1628995300.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:41:40.483Z,1628995300.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:41:40.893Z,1628995300.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:41:41.289Z,1628995301.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,164,000,008BE,186,80,80,84,FF
2021-08-15T02:41:41.289Z,1628995301.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:41:41.741Z,1628995301.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024141.81*55

2021-08-15T02:41:41.787Z,1628995301.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.779999 m, bearing: 234.439331 deg, deltaT: 4.468550 s, approachRate: 0.483379 m/s, LOS rate: 0.094798 deg/s, posRepo size: 4
2021-08-15T02:41:41.793Z,1628995301.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.779999 m,
      bearing: 234.439331 deg,
      approachRate: 0.483379 m/s,
      LOS rate: 0.094798 deg/s,
      cmd update: 0.379191 deg/s,
      cmd heading: 234.015723 deg,
      new cmd heading: 234.015723 deg.

2021-08-15T02:41:44.181Z,1628995304.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:41:44.533Z,1628995304.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:41:44.533Z,1628995304.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:41:44.533Z,1628995304.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:41:44.534Z,1628995304.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:41:44.933Z,1628995304.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
164,000,008BE,186,80,80,84,FF
2021-08-15T02:41:44.933Z,1628995304.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:41:44.934Z,1628995304.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:41:44.935Z,1628995304.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:41:45.337Z,1628995305.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:41:45.738Z,1628995305.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E1,000,008D5,189,80,80,68,FF
2021-08-15T02:41:45.738Z,1628995305.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:41:46.185Z,1628995306.185 [Micromodem](INFO): Nmea in: $SNTTA,0.064930,,,,024146.27*48

2021-08-15T02:41:46.261Z,1628995306.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.159996 m, bearing: 210.741512 deg, deltaT: 4.397848 s, approachRate: 0.313789 m/s, LOS rate: -5.388504 deg/s, posRepo size: 4
2021-08-15T02:41:46.263Z,1628995306.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.159996 m,
      bearing: 210.741512 deg,
      approachRate: 0.313789 m/s,
      LOS rate: -5.388504 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 235.687382 deg,
      new cmd heading: 235.875241 deg.

2021-08-15T02:41:48.579Z,1628995308.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:41:48.961Z,1628995308.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:41:48.961Z,1628995308.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:41:48.961Z,1628995308.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:41:48.962Z,1628995308.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:41:49.377Z,1628995309.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E1,000,008D5,189,80,80,68,FF
2021-08-15T02:41:49.377Z,1628995309.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:41:49.378Z,1628995309.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:41:49.379Z,1628995309.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:41:49.777Z,1628995309.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:41:50.182Z,1628995310.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,00901,186,80,80,40,FF
2021-08-15T02:41:50.182Z,1628995310.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:41:50.625Z,1628995310.625 [Micromodem](INFO): Nmea in: $SNTTA,0.094024,,,,024150.71*4F

2021-08-15T02:41:50.696Z,1628995310.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.800011 m, bearing: 248.594051 deg, deltaT: 4.486066 s, approachRate: 0.588492 m/s, LOS rate: 8.437802 deg/s, posRepo size: 4
2021-08-15T02:41:50.698Z,1628995310.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.800011 m,
      bearing: 248.594051 deg,
      approachRate: 0.588492 m/s,
      LOS rate: 8.437802 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 181.899780 deg,
      new cmd heading: 176.559252 deg.

2021-08-15T02:41:53.057Z,1628995313.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:41:53.413Z,1628995313.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:41:53.413Z,1628995313.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:41:53.413Z,1628995313.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:41:53.414Z,1628995313.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:41:53.813Z,1628995313.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,00901,186,80,80,40,FF
2021-08-15T02:41:53.813Z,1628995313.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:41:53.813Z,1628995313.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:41:53.815Z,1628995313.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:41:54.221Z,1628995314.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:41:54.629Z,1628995314.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,00925,186,80,80,B0,FF
2021-08-15T02:41:54.630Z,1628995314.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:41:55.057Z,1628995315.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024155.15*5D

2021-08-15T02:41:55.096Z,1628995315.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.959999 m, bearing: 234.833324 deg, deltaT: 4.437395 s, approachRate: 0.486769 m/s, LOS rate: -3.101082 deg/s, posRepo size: 4
2021-08-15T02:41:55.098Z,1628995315.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.959999 m,
      bearing: 234.833324 deg,
      approachRate: 0.486769 m/s,
      LOS rate: -3.101082 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 235.196701 deg,
      new cmd heading: 240.086726 deg.

2021-08-15T02:41:57.475Z,1628995317.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:41:57.872Z,1628995317.872 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:41:57.873Z,1628995317.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:41:57.873Z,1628995317.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:41:57.874Z,1628995317.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:41:58.257Z,1628995318.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,00925,186,80,80,B0,FF
2021-08-15T02:41:58.257Z,1628995318.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:41:58.257Z,1628995318.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:41:58.259Z,1628995318.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:41:58.693Z,1628995318.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:41:59.075Z,1628995319.075 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,00D79,185,80,80,B0,FF
2021-08-15T02:41:59.075Z,1628995319.075 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:41:59.509Z,1628995319.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024159.59*59

2021-08-15T02:41:59.532Z,1628995319.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.440002 m, bearing: 208.647061 deg, deltaT: 4.409138 s, approachRate: 15.077778 m/s, LOS rate: -5.939089 deg/s, posRepo size: 4
2021-08-15T02:41:59.534Z,1628995319.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.440002 m,
      bearing: 208.647061 deg,
      approachRate: 15.077778 m/s,
      LOS rate: -5.939089 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 182.295780 deg,
      new cmd heading: 177.077688 deg.

2021-08-15T02:42:02.001Z,1628995322.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:42:02.297Z,1628995322.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:42:02.297Z,1628995322.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:42:02.297Z,1628995322.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:42:02.298Z,1628995322.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:42:02.713Z,1628995322.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,00D79,185,80,80,B0,FF
2021-08-15T02:42:02.713Z,1628995322.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:42:02.713Z,1628995322.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:42:02.715Z,1628995322.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:42:03.110Z,1628995323.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:42:03.513Z,1628995323.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,0097D,186,80,80,74,FF
2021-08-15T02:42:03.514Z,1628995323.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:42:03.973Z,1628995323.973 [Micromodem](INFO): Nmea in: $SNTTA,0.477929,0.478067,,,024204.05*57

2021-08-15T02:42:04.056Z,1628995324.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.239998 m, bearing: 244.267864 deg, deltaT: 4.479200 s, approachRate: -13.663156 m/s, LOS rate: 7.952492 deg/s, posRepo size: 4
2021-08-15T02:42:04.058Z,1628995324.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.239998 m,
      bearing: 244.267864 deg,
      approachRate: -13.663156 m/s,
      LOS rate: 7.952492 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 128.542103 deg,
      new cmd heading: 122.838419 deg.

2021-08-15T02:42:06.365Z,1628995326.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:42:06.741Z,1628995326.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:42:06.741Z,1628995326.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:42:06.741Z,1628995326.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:42:06.742Z,1628995326.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:42:07.153Z,1628995327.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,0097D,186,80,80,74,FF
2021-08-15T02:42:07.154Z,1628995327.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:42:07.154Z,1628995327.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:42:07.156Z,1628995327.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:42:07.557Z,1628995327.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:42:07.969Z,1628995327.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,009A5,184,80,80,A6,FF
2021-08-15T02:42:07.969Z,1628995327.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:42:08.397Z,1628995328.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024208.49*5F

2021-08-15T02:42:08.416Z,1628995328.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.640007 m, bearing: 207.440686 deg, deltaT: 4.486895 s, approachRate: 0.534893 m/s, LOS rate: -8.207720 deg/s, posRepo size: 4
2021-08-15T02:42:08.418Z,1628995328.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.640007 m,
      bearing: 207.440686 deg,
      approachRate: 0.534893 m/s,
      LOS rate: -8.207720 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 182.341861 deg,
      new cmd heading: 186.617053 deg.

2021-08-15T02:42:10.825Z,1628995330.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:42:11.193Z,1628995331.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:42:11.193Z,1628995331.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:42:11.193Z,1628995331.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:42:11.194Z,1628995331.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:42:11.604Z,1628995331.604 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,009A5,184,80,80,A6,FF
2021-08-15T02:42:11.604Z,1628995331.604 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:42:11.604Z,1628995331.604 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:42:11.606Z,1628995331.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:42:12.001Z,1628995332.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:42:12.401Z,1628995332.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,009D5,186,80,80,74,FF
2021-08-15T02:42:12.401Z,1628995332.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:42:12.829Z,1628995332.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024212.94*54

2021-08-15T02:42:12.870Z,1628995332.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.520004 m, bearing: 209.679882 deg, deltaT: 4.354944 s, approachRate: 0.661317 m/s, LOS rate: 0.514173 deg/s, posRepo size: 4
2021-08-15T02:42:12.872Z,1628995332.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.520004 m,
      bearing: 209.679882 deg,
      approachRate: 0.661317 m/s,
      LOS rate: 0.514173 deg/s,
      cmd update: 2.056693 deg/s,
      cmd heading: 130.036896 deg,
      new cmd heading: 124.619520 deg.

2021-08-15T02:42:15.259Z,1628995335.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:42:15.633Z,1628995335.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:42:15.633Z,1628995335.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:42:15.634Z,1628995335.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:42:15.635Z,1628995335.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:42:16.037Z,1628995336.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,009D5,186,80,80,74,FF
2021-08-15T02:42:16.037Z,1628995336.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:42:16.037Z,1628995336.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:42:16.039Z,1628995336.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:42:16.446Z,1628995336.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:42:16.841Z,1628995336.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F9,000,00560,188,80,80,96,FF
2021-08-15T02:42:16.841Z,1628995336.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:42:17.301Z,1628995337.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024217.37*58

2021-08-15T02:42:17.348Z,1628995337.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.059998 m, bearing: 135.963644 deg, deltaT: 4.474353 s, approachRate: -15.300538 m/s, LOS rate: -16.475284 deg/s, posRepo size: 4
2021-08-15T02:42:17.349Z,1628995337.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.475284 deg/s. Setting heading cmd to target bearing of 135.963644deg and heading rate command to 0 deg/s.
2021-08-15T02:42:19.749Z,1628995339.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:42:20.073Z,1628995340.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:42:20.073Z,1628995340.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:42:20.073Z,1628995340.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:42:20.074Z,1628995340.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:42:20.485Z,1628995340.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F9,000,00560,188,80,80,96,FF
2021-08-15T02:42:20.485Z,1628995340.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:42:20.485Z,1628995340.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:42:20.487Z,1628995340.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:42:20.902Z,1628995340.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:42:21.293Z,1628995341.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,00A17,189,80,80,8D,FF
2021-08-15T02:42:21.294Z,1628995341.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:42:21.738Z,1628995341.738 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024221.82*53

2021-08-15T02:42:21.764Z,1628995341.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.480003 m, bearing: 127.283061 deg, deltaT: 4.437444 s, approachRate: 16.320208 m/s, LOS rate: -1.956212 deg/s, posRepo size: 4
2021-08-15T02:42:21.766Z,1628995341.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.480003 m,
      bearing: 127.283061 deg,
      approachRate: 16.320208 m/s,
      LOS rate: -1.956212 deg/s,
      cmd update: -7.824850 deg/s,
      cmd heading: 135.963644 deg,
      new cmd heading: 135.963644 deg.

2021-08-15T02:42:24.166Z,1628995344.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:42:24.521Z,1628995344.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:42:24.521Z,1628995344.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:42:24.521Z,1628995344.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:42:24.522Z,1628995344.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:42:24.930Z,1628995344.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,00A17,189,80,80,8D,FF
2021-08-15T02:42:24.930Z,1628995344.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:42:24.930Z,1628995344.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:42:24.932Z,1628995344.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:42:25.348Z,1628995345.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:42:25.732Z,1628995345.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E2,000,00A2A,186,80,80,C8,FF
2021-08-15T02:42:25.732Z,1628995345.732 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:42:26.161Z,1628995346.161 [Micromodem](INFO): Nmea in: $SNTTA,0.373635,0.373385,,,024226.26*54

2021-08-15T02:42:26.209Z,1628995346.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.620003 m, bearing: 114.273757 deg, deltaT: 4.449418 s, approachRate: 0.256213 m/s, LOS rate: -2.923821 deg/s, posRepo size: 4
2021-08-15T02:42:26.211Z,1628995346.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.620003 m,
      bearing: 114.273757 deg,
      approachRate: 0.256213 m/s,
      LOS rate: -2.923821 deg/s,
      cmd update: -11.695286 deg/s,
      cmd heading: 100.993623 deg,
      new cmd heading: 97.631606 deg.

2021-08-15T02:42:28.587Z,1628995348.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:42:28.961Z,1628995348.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:42:28.961Z,1628995348.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:42:28.961Z,1628995348.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:42:28.962Z,1628995348.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:42:29.374Z,1628995349.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E2,000,00A2A,186,80,80,C8,FF
2021-08-15T02:42:29.374Z,1628995349.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:42:29.374Z,1628995349.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:42:29.375Z,1628995349.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:42:29.777Z,1628995349.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:42:30.186Z,1628995350.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A30,189,80,80,90,FF
2021-08-15T02:42:30.187Z,1628995350.187 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:42:30.190Z,1628995350.190 [Micromodem](INFO): Nmea in: $SNTTA,0.151529,0.151448,,,024230.71*59

2021-08-15T02:42:30.657Z,1628995350.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.979996 m, bearing: 56.817212 deg, deltaT: 4.488229 s, approachRate: 0.080208 m/s, LOS rate: -12.801608 deg/s, posRepo size: 4
2021-08-15T02:42:30.660Z,1628995350.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.801608 deg/s. Setting heading cmd to target bearing of 56.817212deg and heading rate command to 0 deg/s.
2021-08-15T02:42:33.040Z,1628995353.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:42:33.405Z,1628995353.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:42:33.405Z,1628995353.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:42:33.406Z,1628995353.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:42:33.407Z,1628995353.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:42:33.813Z,1628995353.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00A30,189,80,80,90,FF
2021-08-15T02:42:33.813Z,1628995353.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:42:33.813Z,1628995353.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:42:33.815Z,1628995353.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:42:34.218Z,1628995354.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:42:34.628Z,1628995354.628 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A2A,189,80,80,68,FF
2021-08-15T02:42:34.630Z,1628995354.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:42:35.050Z,1628995355.050 [Micromodem](INFO): Nmea in: $SNTTA,0.081663,,,,024235.14*4D

2021-08-15T02:42:35.095Z,1628995355.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.620003 m, bearing: 40.263914 deg, deltaT: 4.428367 s, approachRate: -0.081292 m/s, LOS rate: -3.738014 deg/s, posRepo size: 4
2021-08-15T02:42:35.097Z,1628995355.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.620003 m,
      bearing: 40.263914 deg,
      approachRate: -0.081292 m/s,
      LOS rate: -3.738014 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 56.817212 deg,
      new cmd heading: 56.817212 deg.

2021-08-15T02:42:37.491Z,1628995357.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:42:37.852Z,1628995357.852 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:42:37.853Z,1628995357.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:42:37.853Z,1628995357.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:42:37.855Z,1628995357.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:42:38.262Z,1628995358.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00A2A,189,80,80,68,FF
2021-08-15T02:42:38.262Z,1628995358.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:42:38.262Z,1628995358.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:42:38.266Z,1628995358.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:42:38.686Z,1628995358.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:42:39.069Z,1628995359.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A18,189,80,80,BB,FF
2021-08-15T02:42:39.070Z,1628995359.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:42:39.497Z,1628995359.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024239.59*5C

2021-08-15T02:42:39.539Z,1628995359.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.540001 m, bearing: 24.806919 deg, deltaT: 4.437120 s, approachRate: -0.243402 m/s, LOS rate: -3.483565 deg/s, posRepo size: 4
2021-08-15T02:42:39.541Z,1628995359.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.540001 m,
      bearing: 24.806919 deg,
      approachRate: -0.243402 m/s,
      LOS rate: -3.483565 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 3.959082 deg,
      new cmd heading: 358.614198 deg.

2021-08-15T02:42:41.997Z,1628995361.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:42:42.297Z,1628995362.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:42:42.297Z,1628995362.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:42:42.297Z,1628995362.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:42:42.298Z,1628995362.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:42:42.713Z,1628995362.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00A18,189,80,80,BB,FF
2021-08-15T02:42:42.713Z,1628995362.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:42:42.713Z,1628995362.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:42:42.715Z,1628995362.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:42:43.138Z,1628995363.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:42:43.513Z,1628995363.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D7,000,009F7,189,80,80,99,FF
2021-08-15T02:42:43.514Z,1628995363.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:42:44.042Z,1628995364.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.560005 m, bearing: 22.869177 deg, deltaT: 4.397198 s, approachRate: -0.450286 m/s, LOS rate: -0.440676 deg/s, posRepo size: 4
2021-08-15T02:42:44.044Z,1628995364.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.560005 m,
      bearing: 22.869177 deg,
      approachRate: -0.450286 m/s,
      LOS rate: -0.440676 deg/s,
      cmd update: -1.762706 deg/s,
      cmd heading: 310.708913 deg,
      new cmd heading: 304.570853 deg.

2021-08-15T02:42:46.137Z,1628995366.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:42:46.345Z,1628995366.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:42:46.345Z,1628995366.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:42:46.345Z,1628995366.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:42:46.346Z,1628995366.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:42:46.754Z,1628995366.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D7,000,009F7,189,80,80,99,FF
2021-08-15T02:42:46.754Z,1628995366.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:42:46.754Z,1628995366.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:42:46.756Z,1628995366.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:42:47.160Z,1628995367.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:42:47.561Z,1628995367.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,328,000,009D6,189,80,80,A9,FF
2021-08-15T02:42:47.562Z,1628995367.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:42:47.985Z,1628995367.985 [Micromodem](INFO): Nmea in: $SNTTA,0.462888,0.462888,,,024248.09*5F

2021-08-15T02:42:48.070Z,1628995368.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.580009 m, bearing: 15.340477 deg, deltaT: 4.047763 s, approachRate: -0.489158 m/s, LOS rate: -1.859966 deg/s, posRepo size: 4
2021-08-15T02:42:48.078Z,1628995368.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.580009 m,
      bearing: 15.340477 deg,
      approachRate: -0.489158 m/s,
      LOS rate: -1.859966 deg/s,
      cmd update: -7.439863 deg/s,
      cmd heading: 303.573811 deg,
      new cmd heading: 302.707457 deg.

2021-08-15T02:42:49.262Z,1628995369.262 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-15T02:42:49.334Z,1628995369.334 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T02:42:50.338Z,1628995370.338 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T02:42:50.397Z,1628995370.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:42:50.781Z,1628995370.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:42:50.781Z,1628995370.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:42:50.781Z,1628995370.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:42:50.782Z,1628995370.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:42:51.189Z,1628995371.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
328,000,009D6,189,80,80,A9,FF
2021-08-15T02:42:51.189Z,1628995371.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:42:51.190Z,1628995371.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:42:51.191Z,1628995371.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:42:51.343Z,1628995371.343 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T02:42:51.608Z,1628995371.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:42:51.993Z,1628995371.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,151,000,0099B,186,80,80,B4,FF
2021-08-15T02:42:51.993Z,1628995371.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:42:52.347Z,1628995372.347 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T02:42:52.433Z,1628995372.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024252.52*5A

2021-08-15T02:42:52.469Z,1628995372.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.040009 m, bearing: 22.400872 deg, deltaT: 4.475746 s, approachRate: -0.790930 m/s, LOS rate: 1.577479 deg/s, posRepo size: 4
2021-08-15T02:42:52.471Z,1628995372.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.040009 m,
      bearing: 22.400872 deg,
      approachRate: -0.790930 m/s,
      LOS rate: 1.577479 deg/s,
      cmd update: 6.309916 deg/s,
      cmd heading: 270.455156 deg,
      new cmd heading: 267.193394 deg.

2021-08-15T02:42:53.350Z,1628995373.350 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T02:42:54.354Z,1628995374.354 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T02:42:54.870Z,1628995374.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:42:55.231Z,1628995375.231 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:42:55.231Z,1628995375.231 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:42:55.231Z,1628995375.231 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:42:55.232Z,1628995375.232 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:42:55.360Z,1628995375.360 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T02:42:55.644Z,1628995375.644 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
151,000,0099B,186,80,80,B4,FF
2021-08-15T02:42:55.645Z,1628995375.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:42:55.645Z,1628995375.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:42:55.655Z,1628995375.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:42:56.037Z,1628995376.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:42:56.362Z,1628995376.362 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T02:42:57.366Z,1628995377.366 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T02:42:57.709Z,1628995377.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:42:58.370Z,1628995378.370 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T02:42:59.265Z,1628995379.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,B4,FF
2021-08-15T02:42:59.265Z,1628995379.265 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,B4,FF
2021-08-15T02:42:59.265Z,1628995379.265 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:42:59.376Z,1628995379.376 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T02:43:00.203Z,1628995380.203 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005614
CHAN A1 (24V): -0.024234
CHAN A2 (12V): -0.005982
CHAN A3 (5V): -0.001459
CHAN B0 (3.3V): 0.000472
CHAN B1 (3.15aV): 0.000455
CHAN B2 (3.15bV): 0.000681
CHAN B3 (GND): 0.002094
OPEN: 0.006633
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-15T02:43:00.499Z,1628995380.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:43:00.886Z,1628995380.886 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:43:00.886Z,1628995380.886 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:43:00.886Z,1628995380.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:43:00.887Z,1628995380.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:43:01.282Z,1628995381.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,B4,FF
2021-08-15T02:43:01.282Z,1628995381.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:43:01.282Z,1628995381.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:43:01.284Z,1628995381.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:43:01.717Z,1628995381.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:43:02.098Z,1628995382.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC9,000,00924,189,80,80,AE,FF
2021-08-15T02:43:02.098Z,1628995382.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:43:02.533Z,1628995382.533 [Micromodem](INFO): Nmea in: $SNTTA,0.073809,,,,024302.62*46

2021-08-15T02:43:02.556Z,1628995382.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.900002 m, bearing: 29.610875 deg, deltaT: 10.118186 s, approachRate: -0.705661 m/s, LOS rate: 0.712579 deg/s, posRepo size: 4
2021-08-15T02:43:02.558Z,1628995382.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.900002 m,
      bearing: 29.610875 deg,
      approachRate: -0.705661 m/s,
      LOS rate: 0.712579 deg/s,
      cmd update: 2.850314 deg/s,
      cmd heading: 334.427206 deg,
      new cmd heading: 336.871150 deg.

2021-08-15T02:43:04.978Z,1628995384.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:43:05.321Z,1628995385.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:43:05.321Z,1628995385.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:43:05.322Z,1628995385.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:43:05.322Z,1628995385.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:43:05.725Z,1628995385.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC9,000,00924,189,80,80,AE,FF
2021-08-15T02:43:05.726Z,1628995385.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:43:05.726Z,1628995385.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:43:05.727Z,1628995385.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:43:06.143Z,1628995386.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:43:06.546Z,1628995386.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C4C,000,008F8,189,80,80,99,FF
2021-08-15T02:43:06.546Z,1628995386.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:43:06.988Z,1628995386.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.260002 m, bearing: 33.060568 deg, deltaT: 4.390507 s, approachRate: -0.601297 m/s, LOS rate: 0.785716 deg/s, posRepo size: 4
2021-08-15T02:43:06.990Z,1628995386.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.260002 m,
      bearing: 33.060568 deg,
      approachRate: -0.601297 m/s,
      LOS rate: 0.785716 deg/s,
      cmd update: 3.142865 deg/s,
      cmd heading: 346.953014 deg,
      new cmd heading: 348.164475 deg.

2021-08-15T02:43:09.387Z,1628995389.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:43:09.773Z,1628995389.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:43:09.773Z,1628995389.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:43:09.773Z,1628995389.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:43:09.774Z,1628995389.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:43:10.189Z,1628995390.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C4C,000,008F8,189,80,80,99,FF
2021-08-15T02:43:10.189Z,1628995390.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:43:10.189Z,1628995390.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:43:10.191Z,1628995390.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:43:10.585Z,1628995390.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:43:10.985Z,1628995390.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C4A,000,008CD,188,80,80,B2,FF
2021-08-15T02:43:10.986Z,1628995390.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:43:11.417Z,1628995391.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024311.52*5C

2021-08-15T02:43:11.439Z,1628995391.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.680008 m, bearing: 32.321271 deg, deltaT: 4.450342 s, approachRate: -0.579729 m/s, LOS rate: -0.166121 deg/s, posRepo size: 4
2021-08-15T02:43:11.470Z,1628995391.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.680008 m,
      bearing: 32.321271 deg,
      approachRate: -0.579729 m/s,
      LOS rate: -0.166121 deg/s,
      cmd update: -0.664485 deg/s,
      cmd heading: 0.938997 deg,
      new cmd heading: 2.279536 deg.

2021-08-15T02:43:13.842Z,1628995393.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:43:14.225Z,1628995394.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:43:14.225Z,1628995394.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:43:14.225Z,1628995394.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:43:14.226Z,1628995394.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:43:14.629Z,1628995394.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C4A,000,008CD,188,80,80,B2,FF
2021-08-15T02:43:14.629Z,1628995394.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:43:14.630Z,1628995394.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:43:14.645Z,1628995394.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:43:15.033Z,1628995395.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:43:15.429Z,1628995395.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,008A2,187,80,80,9A,FF
2021-08-15T02:43:15.430Z,1628995395.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:43:15.843Z,1628995395.843 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024315.98*5E

2021-08-15T02:43:15.938Z,1628995395.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.099998 m, bearing: 333.690203 deg, deltaT: 4.478015 s, approachRate: -0.576150 m/s, LOS rate: -13.093094 deg/s, posRepo size: 4
2021-08-15T02:43:15.938Z,1628995395.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.093094 deg/s. Setting heading cmd to target bearing of 333.690203deg and heading rate command to 0 deg/s.
2021-08-15T02:43:18.309Z,1628995398.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:43:18.696Z,1628995398.696 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:43:18.696Z,1628995398.696 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:43:18.697Z,1628995398.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:43:18.698Z,1628995398.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:43:19.070Z,1628995399.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,008A2,187,80,80,9A,FF
2021-08-15T02:43:19.070Z,1628995399.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:43:19.070Z,1628995399.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:43:19.072Z,1628995399.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:43:19.471Z,1628995399.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:43:19.889Z,1628995399.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,00870,189,80,80,CD,FF
2021-08-15T02:43:19.890Z,1628995399.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:43:19.917Z,1628995399.917 [Micromodem](INFO): Nmea in: $SNTTA,0.303488,0.304638,,,024320.40*53

2021-08-15T02:43:20.313Z,1628995400.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.100006 m, bearing: 34.651787 deg, deltaT: 4.508257 s, approachRate: -0.665444 m/s, LOS rate: 13.522208 deg/s, posRepo size: 4
2021-08-15T02:43:20.313Z,1628995400.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.522208 deg/s. Setting heading cmd to target bearing of 34.651787deg and heading rate command to 0 deg/s.
2021-08-15T02:43:22.747Z,1628995402.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:43:23.110Z,1628995403.110 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:43:23.110Z,1628995403.110 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:43:23.110Z,1628995403.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:43:23.111Z,1628995403.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:43:23.517Z,1628995403.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,00870,189,80,80,CD,FF
2021-08-15T02:43:23.517Z,1628995403.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:43:23.517Z,1628995403.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:43:23.519Z,1628995403.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:43:23.961Z,1628995403.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:43:24.317Z,1628995404.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,00840,186,80,80,67,FF
2021-08-15T02:43:24.317Z,1628995404.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:43:24.749Z,1628995404.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024324.85*50

2021-08-15T02:43:24.787Z,1628995404.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.220009 m, bearing: 338.773421 deg, deltaT: 4.335143 s, approachRate: -0.664337 m/s, LOS rate: -12.889626 deg/s, posRepo size: 4
2021-08-15T02:43:24.788Z,1628995404.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.889626 deg/s. Setting heading cmd to target bearing of 338.773421deg and heading rate command to 0 deg/s.
2021-08-15T02:43:27.171Z,1628995407.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:43:27.553Z,1628995407.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:43:27.553Z,1628995407.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:43:27.553Z,1628995407.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:43:27.553Z,1628995407.553 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:43:27.973Z,1628995407.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,00840,186,80,80,67,FF
2021-08-15T02:43:27.973Z,1628995407.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:43:27.973Z,1628995407.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:43:27.975Z,1628995407.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:43:28.368Z,1628995408.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:43:28.773Z,1628995408.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,169,000,00812,185,80,80,8B,FF
2021-08-15T02:43:28.773Z,1628995408.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:43:29.197Z,1628995409.197 [Micromodem](INFO): Nmea in: $SNTTA,0.057356,,,,024329.30*4F

2021-08-15T02:43:29.220Z,1628995409.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.459999 m, bearing: 336.576669 deg, deltaT: 4.493478 s, approachRate: -0.614226 m/s, LOS rate: -0.488876 deg/s, posRepo size: 4
2021-08-15T02:43:29.222Z,1628995409.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.459999 m,
      bearing: 336.576669 deg,
      approachRate: -0.614226 m/s,
      LOS rate: -0.488876 deg/s,
      cmd update: -1.955503 deg/s,
      cmd heading: 338.773421 deg,
      new cmd heading: 338.773421 deg.

2021-08-15T02:43:31.656Z,1628995411.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:43:32.002Z,1628995412.002 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:43:32.002Z,1628995412.002 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:43:32.003Z,1628995412.003 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:43:32.003Z,1628995412.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:43:32.401Z,1628995412.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
169,000,00812,185,80,80,8B,FF
2021-08-15T02:43:32.401Z,1628995412.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:43:32.401Z,1628995412.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:43:32.403Z,1628995412.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:43:32.811Z,1628995412.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:43:33.201Z,1628995413.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8D,000,007E5,189,80,80,93,FF
2021-08-15T02:43:33.201Z,1628995413.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:43:33.665Z,1628995413.665 [Micromodem](INFO): Nmea in: $SNTTA,0.071266,,,,024333.73*45

2021-08-15T02:43:33.699Z,1628995413.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.760002 m, bearing: 39.202332 deg, deltaT: 4.416514 s, approachRate: -0.611341 m/s, LOS rate: 14.179886 deg/s, posRepo size: 4
2021-08-15T02:43:33.699Z,1628995413.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.179886 deg/s. Setting heading cmd to target bearing of 39.202332deg and heading rate command to 0 deg/s.
2021-08-15T02:43:36.088Z,1628995416.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:43:36.433Z,1628995416.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:43:36.433Z,1628995416.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:43:36.433Z,1628995416.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:43:36.434Z,1628995416.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:43:36.838Z,1628995416.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8D,000,007E5,189,80,80,93,FF
2021-08-15T02:43:36.838Z,1628995416.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:43:36.839Z,1628995416.839 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:43:36.842Z,1628995416.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:43:37.249Z,1628995417.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:43:37.670Z,1628995417.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C95,000,007B1,189,80,80,92,FF
2021-08-15T02:43:37.670Z,1628995417.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:43:38.061Z,1628995418.061 [Micromodem](INFO): Nmea in: $SNTTA,0.434707,0.434525,,,024338.22*52

2021-08-15T02:43:38.139Z,1628995418.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.639999 m, bearing: 40.094505 deg, deltaT: 4.490313 s, approachRate: -0.694830 m/s, LOS rate: 0.198688 deg/s, posRepo size: 4
2021-08-15T02:43:38.145Z,1628995418.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.639999 m,
      bearing: 40.094505 deg,
      approachRate: -0.694830 m/s,
      LOS rate: 0.198688 deg/s,
      cmd update: 0.794754 deg/s,
      cmd heading: 39.202332 deg,
      new cmd heading: 39.202332 deg.

2021-08-15T02:43:40.507Z,1628995420.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:43:40.890Z,1628995420.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:43:40.890Z,1628995420.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:43:40.890Z,1628995420.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:43:40.891Z,1628995420.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:43:41.290Z,1628995421.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C95,000,007B1,189,80,80,92,FF
2021-08-15T02:43:41.290Z,1628995421.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:43:41.290Z,1628995421.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:43:41.292Z,1628995421.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:43:41.715Z,1628995421.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:43:42.089Z,1628995422.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE3,000,0078A,189,80,80,8A,FF
2021-08-15T02:43:42.089Z,1628995422.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:43:42.542Z,1628995422.542 [Micromodem](INFO): Nmea in: $SNTTA,0.076897,,,,024342.62*40

2021-08-15T02:43:42.588Z,1628995422.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.300003 m, bearing: 36.118525 deg, deltaT: 4.427459 s, approachRate: -0.528519 m/s, LOS rate: -0.898027 deg/s, posRepo size: 4
2021-08-15T02:43:42.590Z,1628995422.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.300003 m,
      bearing: 36.118525 deg,
      approachRate: -0.528519 m/s,
      LOS rate: -0.898027 deg/s,
      cmd update: -3.592110 deg/s,
      cmd heading: 42.718180 deg,
      new cmd heading: 43.059557 deg.

2021-08-15T02:43:44.982Z,1628995424.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:43:45.317Z,1628995425.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:43:45.317Z,1628995425.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:43:45.317Z,1628995425.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:43:45.318Z,1628995425.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:43:45.721Z,1628995425.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE3,000,0078A,189,80,80,8A,FF
2021-08-15T02:43:45.721Z,1628995425.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:43:45.721Z,1628995425.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:43:45.723Z,1628995425.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:43:46.146Z,1628995426.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:43:46.529Z,1628995426.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA6,000,0075B,189,80,80,AB,FF
2021-08-15T02:43:46.529Z,1628995426.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:43:46.973Z,1628995426.973 [Micromodem](INFO): Nmea in: $SNTTA,0.065226,,,,024347.05*46

2021-08-15T02:43:47.011Z,1628995427.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.479996 m, bearing: 42.034360 deg, deltaT: 4.499052 s, approachRate: -0.626800 m/s, LOS rate: 1.314907 deg/s, posRepo size: 4
2021-08-15T02:43:47.013Z,1628995427.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.479996 m,
      bearing: 42.034360 deg,
      approachRate: -0.626800 m/s,
      LOS rate: 1.314907 deg/s,
      cmd update: 5.259628 deg/s,
      cmd heading: 26.560375 deg,
      new cmd heading: 25.287601 deg.

2021-08-15T02:43:49.378Z,1628995429.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:43:49.765Z,1628995429.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:43:49.766Z,1628995429.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:43:49.766Z,1628995429.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:43:49.767Z,1628995429.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:43:50.185Z,1628995430.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA6,000,0075B,189,80,80,AB,FF
2021-08-15T02:43:50.185Z,1628995430.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:43:50.185Z,1628995430.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:43:50.187Z,1628995430.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:43:50.573Z,1628995430.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:43:50.985Z,1628995430.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,00728,187,80,80,A0,FF
2021-08-15T02:43:50.985Z,1628995430.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:43:51.401Z,1628995431.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024351.52*58

2021-08-15T02:43:51.448Z,1628995431.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.419998 m, bearing: 33.459703 deg, deltaT: 4.391998 s, approachRate: -0.696721 m/s, LOS rate: -1.952336 deg/s, posRepo size: 4
2021-08-15T02:43:51.450Z,1628995431.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.419998 m,
      bearing: 33.459703 deg,
      approachRate: -0.696721 m/s,
      LOS rate: -1.952336 deg/s,
      cmd update: -7.809345 deg/s,
      cmd heading: 49.602301 deg,
      new cmd heading: 51.753647 deg.

2021-08-15T02:43:51.812Z,1628995431.812 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T02:43:53.859Z,1628995433.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:43:54.205Z,1628995434.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:43:54.205Z,1628995434.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:43:54.205Z,1628995434.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:43:54.206Z,1628995434.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:43:54.629Z,1628995434.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,00728,187,80,80,A0,FF
2021-08-15T02:43:54.629Z,1628995434.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:43:54.630Z,1628995434.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:43:54.637Z,1628995434.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:43:55.016Z,1628995435.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:43:55.413Z,1628995435.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,138,000,006F2,185,80,80,C7,FF
2021-08-15T02:43:55.414Z,1628995435.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:43:55.853Z,1628995435.853 [Micromodem](INFO): Nmea in: $SNTTA,0.055684,,,,024355.97*41

2021-08-15T02:43:55.934Z,1628995435.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.180008 m, bearing: 30.627101 deg, deltaT: 4.381383 s, approachRate: -0.739490 m/s, LOS rate: -0.646509 deg/s, posRepo size: 4
2021-08-15T02:43:55.937Z,1628995435.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.180008 m,
      bearing: 30.627101 deg,
      approachRate: -0.739490 m/s,
      LOS rate: -0.646509 deg/s,
      cmd update: -2.586035 deg/s,
      cmd heading: 15.261892 deg,
      new cmd heading: 11.358984 deg.

2021-08-15T02:43:57.958Z,1628995437.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:43:58.253Z,1628995438.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:43:58.253Z,1628995438.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:43:58.253Z,1628995438.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:43:58.254Z,1628995438.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:43:58.689Z,1628995438.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
138,000,006F2,185,80,80,C7,FF
2021-08-15T02:43:58.689Z,1628995438.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:43:58.689Z,1628995438.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:43:58.691Z,1628995438.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:43:59.064Z,1628995439.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:43:59.465Z,1628995439.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,006C5,187,80,80,9D,FF
2021-08-15T02:43:59.466Z,1628995439.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:43:59.898Z,1628995439.898 [Micromodem](INFO): Nmea in: $SNTTA,0.060858,,,,024400.02*43

2021-08-15T02:43:59.970Z,1628995439.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.480003 m, bearing: 25.894248 deg, deltaT: 4.047952 s, approachRate: -0.667005 m/s, LOS rate: -1.169197 deg/s, posRepo size: 4
2021-08-15T02:43:59.972Z,1628995439.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.480003 m,
      bearing: 25.894248 deg,
      approachRate: -0.667005 m/s,
      LOS rate: -1.169197 deg/s,
      cmd update: -4.676788 deg/s,
      cmd heading: 4.793845 deg,
      new cmd heading: 3.534785 deg.

2021-08-15T02:44:01.990Z,1628995441.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:44:02.284Z,1628995442.284 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:44:02.284Z,1628995442.284 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:44:02.287Z,1628995442.287 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:44:02.299Z,1628995442.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:44:02.697Z,1628995442.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,006C5,187,80,80,9D,FF
2021-08-15T02:44:02.697Z,1628995442.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:44:02.698Z,1628995442.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:44:02.699Z,1628995442.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:44:03.092Z,1628995443.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:44:03.501Z,1628995443.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,00695,184,80,80,A0,FF
2021-08-15T02:44:03.501Z,1628995443.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:44:03.961Z,1628995443.961 [Micromodem](INFO): Nmea in: $SNTTA,0.052493,0.489278,,,024404.03*5A

2021-08-15T02:44:04.026Z,1628995444.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.600002 m, bearing: 33.009959 deg, deltaT: 4.035765 s, approachRate: -0.713620 m/s, LOS rate: 1.763163 deg/s, posRepo size: 4
2021-08-15T02:44:04.028Z,1628995444.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.600002 m,
      bearing: 33.009959 deg,
      approachRate: -0.713620 m/s,
      LOS rate: 1.763163 deg/s,
      cmd update: 7.052652 deg/s,
      cmd heading: 345.918777 deg,
      new cmd heading: 343.550513 deg.

2021-08-15T02:44:06.362Z,1628995446.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:44:06.725Z,1628995446.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:44:06.725Z,1628995446.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:44:06.725Z,1628995446.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:44:06.726Z,1628995446.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:44:07.132Z,1628995447.132 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,00695,184,80,80,A0,FF
2021-08-15T02:44:07.132Z,1628995447.132 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:44:07.133Z,1628995447.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:44:07.135Z,1628995447.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:44:07.545Z,1628995447.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:44:07.961Z,1628995447.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,00664,186,80,80,9B,FF
2021-08-15T02:44:07.962Z,1628995447.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:44:08.378Z,1628995448.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024408.47*57

2021-08-15T02:44:08.394Z,1628995448.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.660000 m, bearing: 36.302432 deg, deltaT: 4.511015 s, approachRate: -0.651739 m/s, LOS rate: 0.729874 deg/s, posRepo size: 4
2021-08-15T02:44:08.396Z,1628995448.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.660000 m,
      bearing: 36.302432 deg,
      approachRate: -0.651739 m/s,
      LOS rate: 0.729874 deg/s,
      cmd update: 2.919496 deg/s,
      cmd heading: 17.704614 deg,
      new cmd heading: 20.300850 deg.

2021-08-15T02:44:10.794Z,1628995450.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:44:11.189Z,1628995451.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:44:11.189Z,1628995451.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:44:11.189Z,1628995451.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:44:11.190Z,1628995451.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:44:11.573Z,1628995451.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,00664,186,80,80,9B,FF
2021-08-15T02:44:11.573Z,1628995451.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:44:11.573Z,1628995451.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:44:11.575Z,1628995451.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:44:11.992Z,1628995451.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:44:12.818Z,1628995452.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024412.91*57

2021-08-15T02:44:13.625Z,1628995453.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:44:15.209Z,1628995455.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,9B,FF
2021-08-15T02:44:15.209Z,1628995455.209 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,9B,FF
2021-08-15T02:44:15.209Z,1628995455.209 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:44:16.439Z,1628995456.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:44:16.829Z,1628995456.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:44:16.830Z,1628995456.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:44:16.830Z,1628995456.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:44:16.831Z,1628995456.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:44:17.229Z,1628995457.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,9B,FF
2021-08-15T02:44:17.229Z,1628995457.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:44:17.229Z,1628995457.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:44:17.231Z,1628995457.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:44:17.662Z,1628995457.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:44:18.037Z,1628995458.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA0,000,005EF,187,80,80,B9,FF
2021-08-15T02:44:18.037Z,1628995458.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:44:18.041Z,1628995458.041 [Micromodem](INFO): Nmea in: $SNTTA,0.263218,0.077639,,,024418.56*56

2021-08-15T02:44:18.490Z,1628995458.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.639999 m, bearing: 35.319499 deg, deltaT: 10.110770 s, approachRate: -0.694309 m/s, LOS rate: -0.097216 deg/s, posRepo size: 4
2021-08-15T02:44:18.492Z,1628995458.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.639999 m,
      bearing: 35.319499 deg,
      approachRate: -0.694309 m/s,
      LOS rate: -0.097216 deg/s,
      cmd update: -0.388866 deg/s,
      cmd heading: 47.218543 deg,
      new cmd heading: 48.256464 deg.

2021-08-15T02:44:20.913Z,1628995460.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:44:21.269Z,1628995461.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:44:21.269Z,1628995461.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:44:21.269Z,1628995461.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:44:21.270Z,1628995461.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:44:21.705Z,1628995461.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA0,000,005EF,187,80,80,B9,FF
2021-08-15T02:44:21.705Z,1628995461.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:44:21.705Z,1628995461.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:44:21.707Z,1628995461.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:44:22.161Z,1628995462.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:44:22.545Z,1628995462.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14F,000,005B5,185,80,80,AE,FF
2021-08-15T02:44:22.545Z,1628995462.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:44:22.969Z,1628995462.969 [Micromodem](INFO): Nmea in: $SNTTA,0.023856,,,,024423.04*4D

2021-08-15T02:44:23.012Z,1628995463.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.160004 m, bearing: 30.449496 deg, deltaT: 4.459258 s, approachRate: -0.780398 m/s, LOS rate: -1.092111 deg/s, posRepo size: 4
2021-08-15T02:44:23.014Z,1628995463.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.160004 m,
      bearing: 30.449496 deg,
      approachRate: -0.780398 m/s,
      LOS rate: -1.092111 deg/s,
      cmd update: -4.368443 deg/s,
      cmd heading: 45.483122 deg,
      new cmd heading: 45.322223 deg.

2021-08-15T02:44:25.396Z,1628995465.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:44:25.801Z,1628995465.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:44:25.801Z,1628995465.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:44:25.801Z,1628995465.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:44:25.802Z,1628995465.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:44:26.193Z,1628995466.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14F,000,005B5,185,80,80,AE,FF
2021-08-15T02:44:26.194Z,1628995466.194 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:44:26.194Z,1628995466.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:44:26.196Z,1628995466.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:44:26.655Z,1628995466.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:44:27.037Z,1628995467.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21F,000,00BA8,188,80,80,6F,FF
2021-08-15T02:44:27.038Z,1628995467.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:44:27.462Z,1628995467.462 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024427.53*5F

2021-08-15T02:44:27.484Z,1628995467.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.540009 m, bearing: 24.291102 deg, deltaT: 4.454767 s, approachRate: 20.512859 m/s, LOS rate: -1.382428 deg/s, posRepo size: 4
2021-08-15T02:44:27.486Z,1628995467.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.540009 m,
      bearing: 24.291102 deg,
      approachRate: 20.512859 m/s,
      LOS rate: -1.382428 deg/s,
      cmd update: -5.529711 deg/s,
      cmd heading: 26.014723 deg,
      new cmd heading: 24.137407 deg.

2021-08-15T02:44:29.943Z,1628995469.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:44:30.261Z,1628995470.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:44:30.261Z,1628995470.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:44:30.261Z,1628995470.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:44:30.262Z,1628995470.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:44:30.689Z,1628995470.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21F,000,00BA8,188,80,80,6F,FF
2021-08-15T02:44:30.689Z,1628995470.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:44:30.690Z,1628995470.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:44:30.691Z,1628995470.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:44:31.080Z,1628995471.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:44:31.921Z,1628995471.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024432.02*5F

2021-08-15T02:44:32.726Z,1628995472.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:44:34.311Z,1628995474.311 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,188,80,80,6F,FF
2021-08-15T02:44:34.311Z,1628995474.311 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,188,80,80,6F,FF
2021-08-15T02:44:34.311Z,1628995474.311 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:44:35.534Z,1628995475.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:44:35.949Z,1628995475.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:44:35.949Z,1628995475.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:44:35.949Z,1628995475.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:44:35.950Z,1628995475.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:44:36.334Z,1628995476.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,188,80,80,6F,FF
2021-08-15T02:44:36.334Z,1628995476.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:44:36.334Z,1628995476.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:44:36.336Z,1628995476.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:44:36.736Z,1628995476.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:44:37.142Z,1628995477.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0C,000,0050B,187,80,80,AC,FF
2021-08-15T02:44:37.142Z,1628995477.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:44:37.561Z,1628995477.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024437.67*59

2021-08-15T02:44:37.584Z,1628995477.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 39.882813 deg, deltaT: 10.117472 s, approachRate: -10.040058 m/s, LOS rate: 1.541068 deg/s, posRepo size: 4
2021-08-15T02:44:37.584Z,1628995477.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.96 m.
2021-08-15T02:44:37.586Z,1628995477.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.959999 m,
      bearing: 39.882813 deg,
      approachRate: -10.040058 m/s,
      LOS rate: 1.541068 deg/s,
      cmd update: 6.164272 deg/s,
      cmd heading: 330.089391 deg,
      new cmd heading: 327.789844 deg.

2021-08-15T02:44:37.998Z,1628995477.998 [PowerOnly](INFO): Powering up loadControl
2021-08-15T02:44:38.071Z,1628995478.071 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T02:44:38.071Z,1628995478.071 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:44:38.072Z,1628995478.072 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T02:44:38.072Z,1628995478.072 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T02:44:38.073Z,1628995478.073 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T02:44:38.073Z,1628995478.073 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T02:44:38.397Z,1628995478.397 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T02:44:38.397Z,1628995478.397 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:44:38.398Z,1628995478.398 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T02:44:38.398Z,1628995478.398 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:44:39.681Z,1628995479.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:44:39.989Z,1628995479.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:44:39.989Z,1628995479.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:44:39.989Z,1628995479.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:44:39.990Z,1628995479.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:44:40.369Z,1628995480.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0C,000,0050B,187,80,80,AC,FF
2021-08-15T02:44:40.369Z,1628995480.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:44:40.369Z,1628995480.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:44:40.371Z,1628995480.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:44:40.785Z,1628995480.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:44:41.181Z,1628995481.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C99,000,004DF,189,80,80,62,FF
2021-08-15T02:44:41.181Z,1628995481.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:44:41.239Z,1628995481.239 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:44:41.633Z,1628995481.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024441.71*5F

2021-08-15T02:44:41.681Z,1628995481.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.320004 m, bearing: 42.077647 deg, deltaT: 4.064162 s, approachRate: -0.649579 m/s, LOS rate: 0.540046 deg/s, posRepo size: 4
2021-08-15T02:44:41.681Z,1628995481.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.32 m.
2021-08-15T02:44:41.684Z,1628995481.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.320004 m,
      bearing: 42.077647 deg,
      approachRate: -0.649579 m/s,
      LOS rate: 0.540046 deg/s,
      cmd update: 2.160183 deg/s,
      cmd heading: 355.139278 deg,
      new cmd heading: 357.908971 deg.

2021-08-15T02:44:44.069Z,1628995484.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:44:44.413Z,1628995484.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:44:44.413Z,1628995484.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:44:44.413Z,1628995484.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:44:44.414Z,1628995484.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:44:44.813Z,1628995484.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C99,000,004DF,189,80,80,62,FF
2021-08-15T02:44:44.813Z,1628995484.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:44:44.813Z,1628995484.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:44:44.815Z,1628995484.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:44:45.217Z,1628995485.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:44:45.633Z,1628995485.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7A,000,004BB,189,80,80,88,FF
2021-08-15T02:44:45.634Z,1628995485.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:44:45.697Z,1628995485.697 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:44:46.061Z,1628995486.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024446.15*5A

2021-08-15T02:44:46.150Z,1628995486.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.159996 m, bearing: 34.200028 deg, deltaT: 4.458276 s, approachRate: -0.484494 m/s, LOS rate: -1.766965 deg/s, posRepo size: 4
2021-08-15T02:44:46.151Z,1628995486.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.16 m.
2021-08-15T02:44:46.164Z,1628995486.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.159996 m,
      bearing: 34.200028 deg,
      approachRate: -0.484494 m/s,
      LOS rate: -1.766965 deg/s,
      cmd update: -7.067861 deg/s,
      cmd heading: 4.759947 deg,
      new cmd heading: 5.764991 deg.

2021-08-15T02:44:48.475Z,1628995488.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:44:48.849Z,1628995488.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:44:48.849Z,1628995488.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:44:48.849Z,1628995488.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:44:48.850Z,1628995488.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:44:49.253Z,1628995489.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7A,000,004BB,189,80,80,88,FF
2021-08-15T02:44:49.253Z,1628995489.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:44:49.253Z,1628995489.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:44:49.255Z,1628995489.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:44:49.692Z,1628995489.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:44:50.065Z,1628995490.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D59,000,0049B,189,80,80,84,FF
2021-08-15T02:44:50.065Z,1628995490.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:44:50.167Z,1628995490.167 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:44:50.497Z,1628995490.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024450.59*55

2021-08-15T02:44:50.534Z,1628995490.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.239998 m, bearing: 32.982669 deg, deltaT: 4.469904 s, approachRate: -0.429539 m/s, LOS rate: -0.272345 deg/s, posRepo size: 4
2021-08-15T02:44:50.534Z,1628995490.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.24 m.
2021-08-15T02:44:50.536Z,1628995490.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.239998 m,
      bearing: 32.982669 deg,
      approachRate: -0.429539 m/s,
      LOS rate: -0.272345 deg/s,
      cmd update: -1.089382 deg/s,
      cmd heading: 333.134249 deg,
      new cmd heading: 330.490791 deg.

2021-08-15T02:44:52.938Z,1628995492.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:44:53.301Z,1628995493.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:44:53.301Z,1628995493.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:44:53.301Z,1628995493.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:44:53.302Z,1628995493.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:44:53.701Z,1628995493.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D59,000,0049B,189,80,80,84,FF
2021-08-15T02:44:53.701Z,1628995493.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:44:53.701Z,1628995493.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:44:53.703Z,1628995493.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:44:54.119Z,1628995494.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:44:54.517Z,1628995494.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB6,000,0046D,189,80,80,80,FF
2021-08-15T02:44:54.517Z,1628995494.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:44:54.587Z,1628995494.587 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:44:54.965Z,1628995494.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024455.03*5F

2021-08-15T02:44:55.015Z,1628995495.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.480000 m, bearing: 41.322337 deg, deltaT: 4.419808 s, approachRate: -0.624461 m/s, LOS rate: 1.886885 deg/s, posRepo size: 4
2021-08-15T02:44:55.016Z,1628995495.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.48 m.
2021-08-15T02:44:55.017Z,1628995495.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.48 m.
2021-08-15T02:44:55.017Z,1628995495.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T02:44:55.019Z,1628995495.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.480000 m,
      bearing: 41.322337 deg,
      approachRate: -0.624461 m/s,
      LOS rate: 1.886885 deg/s,
      cmd update: 7.547538 deg/s,
      cmd heading: 328.314820 deg,
      new cmd heading: 327.844442 deg.

2021-08-15T02:44:57.379Z,1628995497.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:44:57.737Z,1628995497.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:44:57.737Z,1628995497.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:44:57.737Z,1628995497.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:44:57.738Z,1628995497.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:44:58.157Z,1628995498.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB6,000,0046D,189,80,80,80,FF
2021-08-15T02:44:58.157Z,1628995498.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:44:58.157Z,1628995498.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:44:58.159Z,1628995498.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:44:58.551Z,1628995498.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:44:58.953Z,1628995498.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,00458,189,80,80,74,FF
2021-08-15T02:44:58.954Z,1628995498.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:44:59.012Z,1628995499.012 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:44:59.394Z,1628995499.394 [Micromodem](INFO): Nmea in: $SNTTA,0.043185,,,,024459.49*48

2021-08-15T02:44:59.416Z,1628995499.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.219999 m, bearing: 307.096916 deg, deltaT: 4.425676 s, approachRate: -0.284702 m/s, LOS rate: -21.290629 deg/s, posRepo size: 4
2021-08-15T02:44:59.417Z,1628995499.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.290629 deg/s. Setting heading cmd to target bearing of 307.096916deg and heading rate command to 0 deg/s.
2021-08-15T02:45:01.824Z,1628995501.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:45:02.185Z,1628995502.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:45:02.185Z,1628995502.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:45:02.185Z,1628995502.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:45:02.186Z,1628995502.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:45:02.589Z,1628995502.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,00458,189,80,80,74,FF
2021-08-15T02:45:02.589Z,1628995502.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:45:02.589Z,1628995502.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:45:02.591Z,1628995502.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:45:02.996Z,1628995502.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:45:03.402Z,1628995503.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0043E,18A,80,80,75,FF
2021-08-15T02:45:03.402Z,1628995503.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:45:03.422Z,1628995503.422 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:45:03.833Z,1628995503.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024503.92*55

2021-08-15T02:45:03.934Z,1628995503.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.659998 m, bearing: 48.196434 deg, deltaT: 4.409546 s, approachRate: -0.353778 m/s, LOS rate: 22.927422 deg/s, posRepo size: 4
2021-08-15T02:45:03.935Z,1628995503.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.927422 deg/s. Setting heading cmd to target bearing of 48.196434deg and heading rate command to 0 deg/s.
2021-08-15T02:45:05.939Z,1628995505.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:45:06.233Z,1628995506.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:45:06.233Z,1628995506.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:45:06.234Z,1628995506.234 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:45:06.235Z,1628995506.235 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:45:06.632Z,1628995506.632 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0043E,18A,80,80,75,FF
2021-08-15T02:45:06.633Z,1628995506.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:45:06.634Z,1628995506.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:45:06.639Z,1628995506.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:45:07.048Z,1628995507.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:45:07.445Z,1628995507.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00428,189,80,80,63,FF
2021-08-15T02:45:07.445Z,1628995507.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:45:07.486Z,1628995507.486 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:45:07.916Z,1628995507.916 [Micromodem](INFO): Nmea in: $SNTTA,,0.035280,,,024507.97*46

2021-08-15T02:45:08.010Z,1628995508.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.340000 m, bearing: 56.539117 deg, deltaT: 4.063608 s, approachRate: -0.324834 m/s, LOS rate: 2.053024 deg/s, posRepo size: 4
2021-08-15T02:45:08.016Z,1628995508.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.340000 m,
      bearing: 56.539117 deg,
      approachRate: -0.324834 m/s,
      LOS rate: 2.053024 deg/s,
      cmd update: 8.212094 deg/s,
      cmd heading: 48.196434 deg,
      new cmd heading: 48.196434 deg.

2021-08-15T02:45:10.322Z,1628995510.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:45:10.700Z,1628995510.700 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:45:10.700Z,1628995510.700 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:45:10.701Z,1628995510.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:45:10.702Z,1628995510.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:45:11.074Z,1628995511.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00428,189,80,80,63,FF
2021-08-15T02:45:11.075Z,1628995511.075 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:45:11.075Z,1628995511.075 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:45:11.081Z,1628995511.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:45:11.485Z,1628995511.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:45:12.314Z,1628995512.314 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024512.41*5B

2021-08-15T02:45:13.126Z,1628995513.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:45:14.712Z,1628995514.712 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,63,FF
2021-08-15T02:45:14.712Z,1628995514.712 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,63,FF
2021-08-15T02:45:14.712Z,1628995514.712 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:45:16.037Z,1628995516.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:45:16.325Z,1628995516.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:45:16.325Z,1628995516.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:45:16.325Z,1628995516.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:45:16.326Z,1628995516.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:45:16.726Z,1628995516.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,63,FF
2021-08-15T02:45:16.726Z,1628995516.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:45:16.726Z,1628995516.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:45:16.756Z,1628995516.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:45:17.142Z,1628995517.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:45:17.534Z,1628995517.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9A,000,0040C,188,80,80,8C,FF
2021-08-15T02:45:17.534Z,1628995517.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:45:17.603Z,1628995517.603 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:45:17.984Z,1628995517.984 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024518.09*5D

2021-08-15T02:45:18.061Z,1628995518.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 26.411230 deg, deltaT: 10.121841 s, approachRate: -0.165978 m/s, LOS rate: -2.976523 deg/s, posRepo size: 4
2021-08-15T02:45:18.063Z,1628995518.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.659998 m,
      bearing: 26.411230 deg,
      approachRate: -0.165978 m/s,
      LOS rate: -2.976523 deg/s,
      cmd update: -11.906090 deg/s,
      cmd heading: 131.241009 deg,
      new cmd heading: 135.031260 deg.

2021-08-15T02:45:20.157Z,1628995520.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:45:20.357Z,1628995520.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:45:20.358Z,1628995520.358 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:45:20.358Z,1628995520.358 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:45:20.358Z,1628995520.358 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:45:20.773Z,1628995520.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9A,000,0040C,188,80,80,8C,FF
2021-08-15T02:45:20.773Z,1628995520.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:45:20.774Z,1628995520.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:45:20.775Z,1628995520.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:45:21.176Z,1628995521.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:45:22.022Z,1628995522.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024522.11*5D

2021-08-15T02:45:22.878Z,1628995522.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:45:24.402Z,1628995524.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,188,80,80,8C,FF
2021-08-15T02:45:24.402Z,1628995524.402 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,188,80,80,8C,FF
2021-08-15T02:45:24.402Z,1628995524.402 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:45:25.693Z,1628995525.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:45:26.041Z,1628995526.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:45:26.041Z,1628995526.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:45:26.041Z,1628995526.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:45:26.042Z,1628995526.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:45:26.421Z,1628995526.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,188,80,80,8C,FF
2021-08-15T02:45:26.421Z,1628995526.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:45:26.422Z,1628995526.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:45:26.423Z,1628995526.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:45:26.833Z,1628995526.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:45:27.229Z,1628995527.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003E1,189,80,80,8F,FF
2021-08-15T02:45:27.229Z,1628995527.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:45:27.284Z,1628995527.284 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:45:27.681Z,1628995527.681 [Micromodem](INFO): Nmea in: $SNTTA,0.034927,,,,024527.76*4C

2021-08-15T02:45:27.740Z,1628995527.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 95.888008 deg, deltaT: 9.676711 s, approachRate: -0.266620 m/s, LOS rate: 7.179792 deg/s, posRepo size: 4
2021-08-15T02:45:27.742Z,1628995527.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 95.888008 deg,
      approachRate: -0.266620 m/s,
      LOS rate: 7.179792 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 15.941859 deg,
      new cmd heading: 10.504764 deg.

2021-08-15T02:45:30.126Z,1628995530.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:45:30.470Z,1628995530.470 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:45:30.470Z,1628995530.470 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:45:30.470Z,1628995530.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:45:30.471Z,1628995530.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:45:30.865Z,1628995530.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003E1,189,80,80,8F,FF
2021-08-15T02:45:30.865Z,1628995530.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:45:30.866Z,1628995530.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:45:30.867Z,1628995530.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:45:31.284Z,1628995531.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:45:31.702Z,1628995531.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C80,000,003C2,189,80,80,AF,FF
2021-08-15T02:45:31.704Z,1628995531.704 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:45:31.737Z,1628995531.737 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:45:32.130Z,1628995532.130 [Micromodem](INFO): Nmea in: $SNTTA,0.032392,,,,024532.20*49

2021-08-15T02:45:32.205Z,1628995532.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 89.702602 deg, deltaT: 4.452758 s, approachRate: -0.417719 m/s, LOS rate: -1.389118 deg/s, posRepo size: 4
2021-08-15T02:45:32.220Z,1628995532.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.219997 m,
      bearing: 89.702602 deg,
      approachRate: -0.417719 m/s,
      LOS rate: -1.389118 deg/s,
      cmd update: -5.556472 deg/s,
      cmd heading: 69.398909 deg,
      new cmd heading: 75.038117 deg.

2021-08-15T02:45:34.533Z,1628995534.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:45:34.905Z,1628995534.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:45:34.905Z,1628995534.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:45:34.905Z,1628995534.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:45:34.906Z,1628995534.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:45:35.313Z,1628995535.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C80,000,003C2,189,80,80,AF,FF
2021-08-15T02:45:35.313Z,1628995535.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:45:35.313Z,1628995535.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:45:35.315Z,1628995535.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:45:35.716Z,1628995535.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:45:36.118Z,1628995536.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,342,000,003B2,189,80,80,32,FF
2021-08-15T02:45:36.118Z,1628995536.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:45:36.187Z,1628995536.187 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:45:36.562Z,1628995536.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024536.65*5B

2021-08-15T02:45:36.584Z,1628995536.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.260002 m, bearing: 359.150635 deg, deltaT: 4.449770 s, approachRate: -0.215740 m/s, LOS rate: -20.349808 deg/s, posRepo size: 4
2021-08-15T02:45:36.585Z,1628995536.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.349808 deg/s. Setting heading cmd to target bearing of 359.150635deg and heading rate command to 0 deg/s.
2021-08-15T02:45:38.989Z,1628995538.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:45:39.349Z,1628995539.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:45:39.349Z,1628995539.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:45:39.349Z,1628995539.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:45:39.350Z,1628995539.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:45:39.757Z,1628995539.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
342,000,003B2,189,80,80,32,FF
2021-08-15T02:45:39.758Z,1628995539.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:45:39.758Z,1628995539.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:45:39.759Z,1628995539.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:45:40.169Z,1628995540.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:45:40.561Z,1628995540.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00390,189,80,80,AA,FF
2021-08-15T02:45:40.562Z,1628995540.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:45:40.612Z,1628995540.612 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:45:41.005Z,1628995541.005 [Micromodem](INFO): Nmea in: $SNTTA,0.011193,,,,024541.09*44

2021-08-15T02:45:41.064Z,1628995541.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 114.789853 deg, deltaT: 4.425123 s, approachRate: -0.461005 m/s, LOS rate: 26.132430 deg/s, posRepo size: 4
2021-08-15T02:45:41.065Z,1628995541.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 26.132430 deg/s. Setting heading cmd to target bearing of 114.789853deg and heading rate command to 0 deg/s.
2021-08-15T02:45:43.416Z,1628995543.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:45:43.793Z,1628995543.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:45:43.793Z,1628995543.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:45:43.793Z,1628995543.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:45:43.794Z,1628995543.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:45:44.201Z,1628995544.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00390,189,80,80,AA,FF
2021-08-15T02:45:44.201Z,1628995544.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:45:44.201Z,1628995544.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:45:44.203Z,1628995544.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:45:44.612Z,1628995544.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:45:45.005Z,1628995545.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF1,000,0037F,187,80,80,B8,FF
2021-08-15T02:45:45.005Z,1628995545.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:45:45.075Z,1628995545.075 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:45:45.449Z,1628995545.449 [Micromodem](INFO): Nmea in: $SNTTA,0.032080,,,,024545.53*4D

2021-08-15T02:45:45.472Z,1628995545.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.199997 m, bearing: 67.610765 deg, deltaT: 4.467756 s, approachRate: -0.228303 m/s, LOS rate: -10.559907 deg/s, posRepo size: 4
2021-08-15T02:45:45.474Z,1628995545.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.199997 m,
      bearing: 67.610765 deg,
      approachRate: -0.228303 m/s,
      LOS rate: -10.559907 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 114.789853 deg,
      new cmd heading: 114.789853 deg.

2021-08-15T02:45:47.931Z,1628995547.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:45:48.237Z,1628995548.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:45:48.237Z,1628995548.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:45:48.237Z,1628995548.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:45:48.238Z,1628995548.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:45:48.665Z,1628995548.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF1,000,0037F,187,80,80,B8,FF
2021-08-15T02:45:48.665Z,1628995548.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:45:48.665Z,1628995548.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:45:48.667Z,1628995548.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:45:49.056Z,1628995549.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:45:49.881Z,1628995549.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024550.00*58

2021-08-15T02:45:50.725Z,1628995550.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:45:52.282Z,1628995552.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,187,80,80,B8,FF
2021-08-15T02:45:52.282Z,1628995552.282 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,187,80,80,B8,FF
2021-08-15T02:45:52.282Z,1628995552.282 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:45:53.514Z,1628995553.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:45:53.952Z,1628995553.952 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:45:53.952Z,1628995553.952 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:45:53.953Z,1628995553.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:45:53.953Z,1628995553.953 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:45:54.301Z,1628995554.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,187,80,80,B8,FF
2021-08-15T02:45:54.301Z,1628995554.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:45:54.301Z,1628995554.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:45:54.303Z,1628995554.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:45:54.704Z,1628995554.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:45:55.101Z,1628995555.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,003A3,189,80,80,A6,FF
2021-08-15T02:45:55.101Z,1628995555.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:45:55.163Z,1628995555.163 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:45:55.549Z,1628995555.549 [Micromodem](INFO): Nmea in: $SNTTA,0.037280,,,,024555.64*4F

2021-08-15T02:45:55.565Z,1628995555.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.359997 m, bearing: 71.208479 deg, deltaT: 10.083396 s, approachRate: 0.214214 m/s, LOS rate: 0.356796 deg/s, posRepo size: 4
2021-08-15T02:45:55.567Z,1628995555.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 71.208479 deg,
      approachRate: 0.214214 m/s,
      LOS rate: 0.356796 deg/s,
      cmd update: 1.427183 deg/s,
      cmd heading: 353.644029 deg,
      new cmd heading: 348.735537 deg.

2021-08-15T02:45:58.011Z,1628995558.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:45:58.333Z,1628995558.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:45:58.333Z,1628995558.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:45:58.333Z,1628995558.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:45:58.334Z,1628995558.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:45:58.737Z,1628995558.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB9,000,003A3,189,80,80,A6,FF
2021-08-15T02:45:58.737Z,1628995558.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:45:58.737Z,1628995558.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:45:58.739Z,1628995558.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:45:59.166Z,1628995559.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:45:59.542Z,1628995559.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,003B4,186,80,80,6D,FF
2021-08-15T02:45:59.542Z,1628995559.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:45:59.567Z,1628995559.567 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:45:59.985Z,1628995559.985 [Micromodem](INFO): Nmea in: $SNTTA,0.060414,,,,024600.07*40

2021-08-15T02:46:00.061Z,1628995560.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 63.260816 deg, deltaT: 4.403798 s, approachRate: 0.231618 m/s, LOS rate: -1.804729 deg/s, posRepo size: 4
2021-08-15T02:46:00.063Z,1628995560.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.379997 m,
      bearing: 63.260816 deg,
      approachRate: 0.231618 m/s,
      LOS rate: -1.804729 deg/s,
      cmd update: -7.218917 deg/s,
      cmd heading: 359.934763 deg,
      new cmd heading: 0.621719 deg.

2021-08-15T02:46:02.426Z,1628995562.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:46:02.785Z,1628995562.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:46:02.785Z,1628995562.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:46:02.786Z,1628995562.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:46:02.787Z,1628995562.787 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:46:03.189Z,1628995563.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,003B4,186,80,80,6D,FF
2021-08-15T02:46:03.189Z,1628995563.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:46:03.189Z,1628995563.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:46:03.191Z,1628995563.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:46:03.588Z,1628995563.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:46:04.009Z,1628995564.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1C,000,003DF,187,80,80,6D,FF
2021-08-15T02:46:04.009Z,1628995564.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:46:04.117Z,1628995564.117 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:46:04.429Z,1628995564.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024604.52*5D

2021-08-15T02:46:04.466Z,1628995564.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 49.108340 deg, deltaT: 4.549869 s, approachRate: 0.567049 m/s, LOS rate: -3.110524 deg/s, posRepo size: 4
2021-08-15T02:46:04.469Z,1628995564.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 49.108340 deg,
      approachRate: 0.567049 m/s,
      LOS rate: -3.110524 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 327.174207 deg,
      new cmd heading: 324.571333 deg.

2021-08-15T02:46:06.867Z,1628995566.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:46:07.241Z,1628995567.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:46:07.241Z,1628995567.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:46:07.241Z,1628995567.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:46:07.242Z,1628995567.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:46:07.636Z,1628995567.636 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1C,000,003DF,187,80,80,6D,FF
2021-08-15T02:46:07.637Z,1628995567.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:46:07.637Z,1628995567.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:46:07.643Z,1628995567.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:46:08.044Z,1628995568.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:46:08.430Z,1628995568.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,135,000,003F7,185,80,80,77,FF
2021-08-15T02:46:08.430Z,1628995568.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:46:08.455Z,1628995568.455 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:46:08.863Z,1628995568.863 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024608.98*57

2021-08-15T02:46:08.913Z,1628995568.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 353.846392 deg, deltaT: 4.338173 s, approachRate: 0.331938 m/s, LOS rate: -12.738532 deg/s, posRepo size: 4
2021-08-15T02:46:08.914Z,1628995568.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 23.40 m. Rolling out.
2021-08-15T02:46:08.914Z,1628995568.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T02:46:11.286Z,1628995571.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:46:11.693Z,1628995571.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:46:11.693Z,1628995571.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:46:11.693Z,1628995571.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:46:11.694Z,1628995571.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:46:12.081Z,1628995572.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
135,000,003F7,185,80,80,77,FF
2021-08-15T02:46:12.081Z,1628995572.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:46:12.081Z,1628995572.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:46:12.083Z,1628995572.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:46:12.103Z,1628995572.103 [PowerOnly](INFO): Powering down loadControl
2021-08-15T02:46:12.489Z,1628995572.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:46:13.318Z,1628995573.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024613.42*5A

2021-08-15T02:46:14.166Z,1628995574.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:46:15.705Z,1628995575.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,185,80,80,77,FF
2021-08-15T02:46:15.705Z,1628995575.705 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,185,80,80,77,FF
2021-08-15T02:46:15.705Z,1628995575.705 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:46:16.966Z,1628995576.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:46:17.321Z,1628995577.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:46:17.321Z,1628995577.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:46:17.321Z,1628995577.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:46:17.322Z,1628995577.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:46:17.809Z,1628995577.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,185,80,80,77,FF
2021-08-15T02:46:17.809Z,1628995577.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:46:17.809Z,1628995577.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:46:17.811Z,1628995577.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:46:18.216Z,1628995578.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:46:18.534Z,1628995578.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,0046B,187,80,80,50,FF
2021-08-15T02:46:18.535Z,1628995578.535 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:46:18.609Z,1628995578.609 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:46:19.006Z,1628995579.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.359999 m, bearing: 339.409121 deg, deltaT: 10.154962 s, approachRate: 0.685379 m/s, LOS rate: -1.421696 deg/s, posRepo size: 4
2021-08-15T02:46:19.358Z,1628995579.358 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024619.14*53

2021-08-15T02:46:21.399Z,1628995581.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:46:21.766Z,1628995581.766 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:46:21.767Z,1628995581.767 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:46:21.767Z,1628995581.767 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:46:21.768Z,1628995581.768 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:46:22.182Z,1628995582.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,0046B,187,80,80,50,FF
2021-08-15T02:46:22.182Z,1628995582.182 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:46:22.182Z,1628995582.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:46:22.183Z,1628995582.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:46:22.581Z,1628995582.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:46:22.976Z,1628995582.976 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,00490,189,80,80,4F,FF
2021-08-15T02:46:22.976Z,1628995582.976 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:46:23.008Z,1628995583.008 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:46:23.406Z,1628995583.406 [Micromodem](INFO): Nmea in: $SNTTA,0.027271,,,,024623.52*47

2021-08-15T02:46:23.445Z,1628995583.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.580002 m, bearing: 282.793164 deg, deltaT: 4.398735 s, approachRate: 0.504691 m/s, LOS rate: -12.870963 deg/s, posRepo size: 4
2021-08-15T02:46:25.890Z,1628995585.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:46:26.218Z,1628995586.218 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:46:26.218Z,1628995586.218 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:46:26.218Z,1628995586.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:46:26.219Z,1628995586.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:46:26.618Z,1628995586.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,00490,189,80,80,4F,FF
2021-08-15T02:46:26.618Z,1628995586.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:46:26.619Z,1628995586.619 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:46:26.625Z,1628995586.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:46:27.021Z,1628995587.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:46:27.435Z,1628995587.435 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FE,000,004B6,189,80,80,78,FF
2021-08-15T02:46:27.440Z,1628995587.440 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:46:27.501Z,1628995587.501 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:46:27.864Z,1628995587.864 [Micromodem](INFO): Nmea in: $SNTTA,0.080919,,,,024627.96*43

2021-08-15T02:46:27.934Z,1628995587.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.859997 m, bearing: 256.479067 deg, deltaT: 4.492502 s, approachRate: 0.507511 m/s, LOS rate: -5.857337 deg/s, posRepo size: 4
2021-08-15T02:46:30.316Z,1628995590.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:46:30.673Z,1628995590.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:46:30.673Z,1628995590.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:46:30.673Z,1628995590.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:46:30.674Z,1628995590.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:46:31.061Z,1628995591.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FE,000,004B6,189,80,80,78,FF
2021-08-15T02:46:31.061Z,1628995591.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:46:31.061Z,1628995591.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:46:31.063Z,1628995591.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:46:31.465Z,1628995591.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:46:31.895Z,1628995591.895 [Micromodem](INFO): Nmea in: $SNTTA,0.305066,0.304579,,,024632.40*51

2021-08-15T02:46:33.094Z,1628995593.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:46:33.921Z,1628995593.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BC,000,06F4F,185,80,80,7B,FF
2021-08-15T02:46:33.921Z,1628995593.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:46:34.045Z,1628995594.045 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:46:34.334Z,1628995594.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1672.199951 m, bearing: 249.688193 deg, deltaT: 6.543906 s, approachRate: 250.208359 m/s, LOS rate: -1.037740 deg/s, posRepo size: 4
2021-08-15T02:46:34.746Z,1628995594.746 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T02:46:34.746Z,1628995594.746 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T02:46:34.746Z,1628995594.746 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T02:46:34.747Z,1628995594.747 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T02:46:34.747Z,1628995594.747 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T02:46:34.747Z,1628995594.747 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T02:46:35.144Z,1628995595.144 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T02:46:35.144Z,1628995595.144 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T02:46:35.145Z,1628995595.145 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T02:46:35.145Z,1628995595.145 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T02:46:36.757Z,1628995596.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:46:37.126Z,1628995597.126 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:46:37.126Z,1628995597.126 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:46:37.126Z,1628995597.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:46:37.127Z,1628995597.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:46:37.525Z,1628995597.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BC,000,06F4F,185,80,80,7B,FF
2021-08-15T02:46:37.526Z,1628995597.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:46:37.526Z,1628995597.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:46:37.527Z,1628995597.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:46:37.964Z,1628995597.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:46:38.333Z,1628995598.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,004EF,189,80,80,7F,FF
2021-08-15T02:46:38.333Z,1628995598.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:46:38.769Z,1628995598.769 [Micromodem](INFO): Nmea in: $SNTTA,0.047999,,,,024638.86*4F

2021-08-15T02:46:38.807Z,1628995598.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.279999 m, bearing: 235.993035 deg, deltaT: 4.309197 s, approachRate: -379.170380 m/s, LOS rate: -3.178123 deg/s, posRepo size: 4
2021-08-15T02:46:39.177Z,1628995599.177 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T02:46:39.178Z,1628995599.178 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:46:39.178Z,1628995599.178 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T02:46:39.178Z,1628995599.178 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T02:46:39.178Z,1628995599.178 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T02:46:39.178Z,1628995599.178 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T02:46:39.582Z,1628995599.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T02:46:39.582Z,1628995599.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:46:39.582Z,1628995599.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T02:46:39.582Z,1628995599.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:46:41.207Z,1628995601.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:46:41.561Z,1628995601.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:46:41.561Z,1628995601.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:46:41.561Z,1628995601.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:46:41.562Z,1628995601.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:46:41.980Z,1628995601.980 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,004EF,189,80,80,7F,FF
2021-08-15T02:46:41.980Z,1628995601.980 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:46:41.981Z,1628995601.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:46:41.982Z,1628995601.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:46:42.400Z,1628995602.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:46:42.785Z,1628995602.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EF,000,0050C,186,80,80,7F,FF
2021-08-15T02:46:42.785Z,1628995602.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:46:42.839Z,1628995602.839 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:46:43.213Z,1628995603.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024643.32*58

2021-08-15T02:46:43.247Z,1628995603.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.019997 m, bearing: 244.587189 deg, deltaT: 4.485005 s, approachRate: 0.387959 m/s, LOS rate: 1.916197 deg/s, posRepo size: 4
2021-08-15T02:46:43.663Z,1628995603.663 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T02:46:43.663Z,1628995603.663 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T02:46:43.663Z,1628995603.663 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T02:46:43.664Z,1628995603.664 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T02:46:43.664Z,1628995603.664 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T02:46:43.664Z,1628995603.664 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T02:46:44.076Z,1628995604.076 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T02:46:44.076Z,1628995604.076 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T02:46:44.076Z,1628995604.076 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T02:46:44.076Z,1628995604.076 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T02:46:45.672Z,1628995605.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:46:46.019Z,1628995606.019 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:46:46.019Z,1628995606.019 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:46:46.019Z,1628995606.019 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:46:46.020Z,1628995606.020 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:46:46.418Z,1628995606.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EF,000,0050C,186,80,80,7F,FF
2021-08-15T02:46:46.418Z,1628995606.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:46:46.419Z,1628995606.419 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:46:46.425Z,1628995606.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:46:46.828Z,1628995606.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:46:47.229Z,1628995607.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,113,000,00523,186,80,80,46,FF
2021-08-15T02:46:47.229Z,1628995607.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:46:47.669Z,1628995607.669 [Micromodem](INFO): Nmea in: $SNTTA,0.088264,,,,024647.76*42

2021-08-15T02:46:47.705Z,1628995607.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.399998 m, bearing: 255.696929 deg, deltaT: 4.410434 s, approachRate: 0.312895 m/s, LOS rate: 2.518968 deg/s, posRepo size: 4
2021-08-15T02:46:50.107Z,1628995610.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:46:50.457Z,1628995610.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:46:50.457Z,1628995610.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:46:50.457Z,1628995610.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:46:50.458Z,1628995610.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:46:50.861Z,1628995610.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
113,000,00523,186,80,80,46,FF
2021-08-15T02:46:50.861Z,1628995610.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:46:50.861Z,1628995610.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:46:50.863Z,1628995610.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:46:51.265Z,1628995611.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:46:51.689Z,1628995611.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31E,000,0053D,189,80,80,40,FF
2021-08-15T02:46:51.689Z,1628995611.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:46:52.106Z,1628995612.106 [Micromodem](INFO): Nmea in: $SNTTA,0.077853,,,,024652.20*4B

2021-08-15T02:46:52.181Z,1628995612.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.959999 m, bearing: 229.495640 deg, deltaT: 4.496898 s, approachRate: 0.346906 m/s, LOS rate: -5.826525 deg/s, posRepo size: 4
2021-08-15T02:46:54.527Z,1628995614.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:46:54.901Z,1628995614.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:46:54.901Z,1628995614.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:46:54.901Z,1628995614.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:46:54.902Z,1628995614.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:46:55.309Z,1628995615.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31E,000,0053D,189,80,80,40,FF
2021-08-15T02:46:55.309Z,1628995615.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:46:55.309Z,1628995615.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:46:55.311Z,1628995615.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:46:55.709Z,1628995615.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:46:56.110Z,1628995616.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F7,000,00560,188,80,80,80,FF
2021-08-15T02:46:56.110Z,1628995616.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:46:56.549Z,1628995616.549 [Micromodem](INFO): Nmea in: $SNTTA,0.067506,,,,024656.64*43

2021-08-15T02:46:56.584Z,1628995616.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.059998 m, bearing: 231.802878 deg, deltaT: 4.439754 s, approachRate: 0.472999 m/s, LOS rate: 0.519677 deg/s, posRepo size: 4
2021-08-15T02:46:58.965Z,1628995618.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:46:59.345Z,1628995619.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:46:59.346Z,1628995619.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:46:59.346Z,1628995619.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:46:59.347Z,1628995619.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:46:59.756Z,1628995619.756 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F7,000,00560,188,80,80,80,FF
2021-08-15T02:46:59.756Z,1628995619.756 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:46:59.757Z,1628995619.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:46:59.758Z,1628995619.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:47:00.165Z,1628995620.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:47:00.569Z,1628995620.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,0057C,189,80,80,43,FF
2021-08-15T02:47:00.569Z,1628995620.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:47:00.994Z,1628995620.994 [Micromodem](INFO): Nmea in: $SNTTA,0.042866,,,,024701.09*47

2021-08-15T02:47:01.019Z,1628995621.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.739998 m, bearing: 239.896598 deg, deltaT: 4.402301 s, approachRate: 0.381619 m/s, LOS rate: 1.838520 deg/s, posRepo size: 4
2021-08-15T02:47:03.410Z,1628995623.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:47:03.781Z,1628995623.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:47:03.781Z,1628995623.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:47:03.781Z,1628995623.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:47:03.782Z,1628995623.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:47:04.197Z,1628995624.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,0057C,189,80,80,43,FF
2021-08-15T02:47:04.197Z,1628995624.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:47:04.197Z,1628995624.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:47:04.199Z,1628995624.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:47:04.606Z,1628995624.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:47:05.002Z,1628995625.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E1,000,0059D,189,80,80,8F,FF
2021-08-15T02:47:05.002Z,1628995625.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:47:05.453Z,1628995625.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024705.53*5C

2021-08-15T02:47:05.476Z,1628995625.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.720001 m, bearing: 232.445572 deg, deltaT: 4.483591 s, approachRate: 0.441611 m/s, LOS rate: -1.661843 deg/s, posRepo size: 4
2021-08-15T02:47:07.934Z,1628995627.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:47:08.229Z,1628995628.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:47:08.229Z,1628995628.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:47:08.229Z,1628995628.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:47:08.230Z,1628995628.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:47:08.645Z,1628995628.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E1,000,0059D,189,80,80,8F,FF
2021-08-15T02:47:08.645Z,1628995628.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:47:08.646Z,1628995628.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:47:08.653Z,1628995628.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:47:09.040Z,1628995629.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:47:09.441Z,1628995629.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F1,000,005BE,186,80,80,59,FF
2021-08-15T02:47:09.441Z,1628995629.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:47:09.886Z,1628995629.886 [Micromodem](INFO): Nmea in: $SNTTA,0.057978,,,,024709.99*4C

2021-08-15T02:47:09.946Z,1628995629.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.699997 m, bearing: 244.873347 deg, deltaT: 4.408824 s, approachRate: 0.449098 m/s, LOS rate: 2.818841 deg/s, posRepo size: 4
2021-08-15T02:47:12.287Z,1628995632.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:47:12.689Z,1628995632.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:47:12.689Z,1628995632.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:47:12.689Z,1628995632.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:47:12.690Z,1628995632.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:47:13.088Z,1628995633.088 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F1,000,005BE,186,80,80,59,FF
2021-08-15T02:47:13.089Z,1628995633.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:47:13.089Z,1628995633.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:47:13.090Z,1628995633.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:47:13.493Z,1628995633.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:47:13.933Z,1628995633.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CF,000,005E3,189,80,80,98,FF
2021-08-15T02:47:13.933Z,1628995633.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:47:13.936Z,1628995633.936 [Micromodem](INFO): Nmea in: $SNTTA,0.165438,0.292111,,,024714.42*59

2021-08-15T02:47:14.320Z,1628995634.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.919994 m, bearing: 233.274620 deg, deltaT: 4.547353 s, approachRate: 0.488196 m/s, LOS rate: -2.550655 deg/s, posRepo size: 4
2021-08-15T02:47:16.741Z,1628995636.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:47:17.126Z,1628995637.126 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:47:17.126Z,1628995637.126 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:47:17.127Z,1628995637.127 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:47:17.128Z,1628995637.128 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:47:17.532Z,1628995637.532 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CF,000,005E3,189,80,80,98,FF
2021-08-15T02:47:17.533Z,1628995637.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:47:17.533Z,1628995637.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:47:17.534Z,1628995637.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:47:17.953Z,1628995637.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:47:18.329Z,1628995638.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,246,000,00605,189,80,80,9F,FF
2021-08-15T02:47:18.329Z,1628995638.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:47:18.769Z,1628995638.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024718.87*59

2021-08-15T02:47:18.824Z,1628995638.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.960007 m, bearing: 240.585736 deg, deltaT: 4.354547 s, approachRate: 0.468479 m/s, LOS rate: 1.678961 deg/s, posRepo size: 4
2021-08-15T02:47:21.194Z,1628995641.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:47:21.564Z,1628995641.564 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:47:21.564Z,1628995641.564 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:47:21.565Z,1628995641.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:47:21.565Z,1628995641.565 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:47:21.972Z,1628995641.972 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
246,000,00605,189,80,80,9F,FF
2021-08-15T02:47:21.973Z,1628995641.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:47:21.974Z,1628995641.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:47:22.000Z,1628995642.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:47:22.377Z,1628995642.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:47:22.773Z,1628995642.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DB,000,0062E,188,80,80,A5,FF
2021-08-15T02:47:22.774Z,1628995642.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:47:23.209Z,1628995643.209 [Micromodem](INFO): Nmea in: $SNTTA,0.377660,,,,024723.33*43

2021-08-15T02:47:23.240Z,1628995643.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.420006 m, bearing: 232.497099 deg, deltaT: 4.449118 s, approachRate: 0.552918 m/s, LOS rate: -1.818032 deg/s, posRepo size: 4
2021-08-15T02:47:25.669Z,1628995645.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:47:26.017Z,1628995646.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:47:26.017Z,1628995646.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:47:26.017Z,1628995646.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:47:26.018Z,1628995646.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:47:26.413Z,1628995646.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DB,000,0062E,188,80,80,A5,FF
2021-08-15T02:47:26.413Z,1628995646.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:47:26.413Z,1628995646.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:47:26.415Z,1628995646.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:47:26.824Z,1628995646.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:47:27.659Z,1628995647.659 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024727.75*58

2021-08-15T02:47:28.451Z,1628995648.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:47:29.651Z,1628995649.651 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,07A95,188,80,80,A2,FF
2021-08-15T02:47:29.651Z,1628995649.651 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:47:30.130Z,1628995650.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1845.359985 m, bearing: 242.405244 deg, deltaT: 6.877622 s, approachRate: 259.964844 m/s, LOS rate: 1.440635 deg/s, posRepo size: 4
2021-08-15T02:47:32.525Z,1628995652.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:47:32.873Z,1628995652.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:47:32.873Z,1628995652.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:47:32.874Z,1628995652.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:47:32.875Z,1628995652.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:47:33.294Z,1628995653.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,07A95,188,80,80,A2,FF
2021-08-15T02:47:33.294Z,1628995653.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:47:33.294Z,1628995653.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:47:33.296Z,1628995653.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:47:33.697Z,1628995653.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:47:34.089Z,1628995654.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,251,000,0068F,189,80,80,95,FF
2021-08-15T02:47:34.090Z,1628995654.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:47:34.095Z,1628995654.095 [Micromodem](INFO): Nmea in: $SNTTA,0.189515,0.189140,,,024734.63*59

2021-08-15T02:47:34.514Z,1628995654.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.240005 m, bearing: 240.165461 deg, deltaT: 4.481109 s, approachRate: -397.696198 m/s, LOS rate: -0.499828 deg/s, posRepo size: 4
2021-08-15T02:47:36.961Z,1628995656.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:47:37.322Z,1628995657.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:47:37.322Z,1628995657.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:47:37.322Z,1628995657.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:47:37.323Z,1628995657.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:47:37.726Z,1628995657.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
251,000,0068F,189,80,80,95,FF
2021-08-15T02:47:37.726Z,1628995657.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:47:37.726Z,1628995657.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:47:37.727Z,1628995657.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:47:38.139Z,1628995658.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:47:38.963Z,1628995658.963 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024739.06*53

2021-08-15T02:47:39.750Z,1628995659.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,373,000,035DD,189,80,80,87,FF
2021-08-15T02:47:39.750Z,1628995659.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:47:40.200Z,1628995660.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 789.840027 m, bearing: 225.801683 deg, deltaT: 5.623750 s, approachRate: 129.202057 m/s, LOS rate: -2.554128 deg/s, posRepo size: 4
2021-08-15T02:47:42.588Z,1628995662.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:47:42.982Z,1628995662.982 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:47:42.982Z,1628995662.982 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:47:42.982Z,1628995662.982 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:47:42.983Z,1628995662.983 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:47:43.373Z,1628995663.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
373,000,035DD,189,80,80,87,FF
2021-08-15T02:47:43.373Z,1628995663.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:47:43.373Z,1628995663.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:47:43.375Z,1628995663.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:47:43.785Z,1628995663.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:47:44.185Z,1628995664.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35C,000,006EF,188,80,80,9E,FF
2021-08-15T02:47:44.185Z,1628995664.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:47:44.189Z,1628995664.189 [Micromodem](INFO): Nmea in: $SNTTA,0.188878,0.188909,,,024744.71*5E

2021-08-15T02:47:44.667Z,1628995664.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.000008 m, bearing: 227.004452 deg, deltaT: 4.453582 s, approachRate: -161.856232 m/s, LOS rate: 0.270068 deg/s, posRepo size: 4
2021-08-15T02:47:47.053Z,1628995667.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:47:47.413Z,1628995667.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:47:47.413Z,1628995667.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:47:47.413Z,1628995667.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:47:47.414Z,1628995667.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:47:47.821Z,1628995667.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35C,000,006EF,188,80,80,9E,FF
2021-08-15T02:47:47.821Z,1628995667.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:47:47.822Z,1628995667.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:47:47.823Z,1628995667.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:47:48.225Z,1628995668.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:47:48.637Z,1628995668.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,138,000,00718,187,80,80,1D,FF
2021-08-15T02:47:48.638Z,1628995668.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:47:49.070Z,1628995669.070 [Micromodem](INFO): Nmea in: $SNTTA,,0.056943,,,024749.16*46

2021-08-15T02:47:49.092Z,1628995669.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.460007 m, bearing: 254.209341 deg, deltaT: 4.469545 s, approachRate: 0.550391 m/s, LOS rate: 6.086724 deg/s, posRepo size: 4
2021-08-15T02:47:51.482Z,1628995671.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:47:51.865Z,1628995671.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:47:51.865Z,1628995671.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:47:51.866Z,1628995671.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:47:51.867Z,1628995671.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:47:52.261Z,1628995672.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
138,000,00718,187,80,80,1D,FF
2021-08-15T02:47:52.261Z,1628995672.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:47:52.261Z,1628995672.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:47:52.263Z,1628995672.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:47:52.704Z,1628995672.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:47:53.069Z,1628995673.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,42E,000,0073B,189,80,80,5A,FF
2021-08-15T02:47:53.070Z,1628995673.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:47:53.513Z,1628995673.513 [Micromodem](INFO): Nmea in: $SNTTA,0.072485,,,,024753.60*4D

2021-08-15T02:47:53.564Z,1628995673.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.560005 m, bearing: 216.356159 deg, deltaT: 4.351498 s, approachRate: 0.482592 m/s, LOS rate: -8.698885 deg/s, posRepo size: 4
2021-08-15T02:47:56.060Z,1628995676.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:47:56.307Z,1628995676.307 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:47:56.307Z,1628995676.307 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:47:56.307Z,1628995676.307 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:47:56.308Z,1628995676.308 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:47:56.721Z,1628995676.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
42E,000,0073B,189,80,80,5A,FF
2021-08-15T02:47:56.721Z,1628995676.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:47:56.721Z,1628995676.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:47:56.723Z,1628995676.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:47:57.119Z,1628995677.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:47:57.555Z,1628995677.555 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3FE,000,0076E,189,80,80,6E,FF
2021-08-15T02:47:57.555Z,1628995677.555 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:47:57.974Z,1628995677.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024758.06*54

2021-08-15T02:47:58.039Z,1628995678.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.620003 m, bearing: 219.980763 deg, deltaT: 4.485664 s, approachRate: 0.682173 m/s, LOS rate: 0.808042 deg/s, posRepo size: 4
2021-08-15T02:48:00.371Z,1628995680.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:48:00.753Z,1628995680.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:48:00.754Z,1628995680.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:48:00.754Z,1628995680.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:48:00.755Z,1628995680.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:48:01.169Z,1628995681.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3FE,000,0076E,189,80,80,6E,FF
2021-08-15T02:48:01.169Z,1628995681.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:48:01.169Z,1628995681.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:48:01.171Z,1628995681.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:48:01.573Z,1628995681.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:48:01.981Z,1628995681.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,00796,185,80,80,8C,FF
2021-08-15T02:48:01.982Z,1628995681.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:48:01.985Z,1628995681.985 [Micromodem](INFO): Nmea in: $SNTTA,0.291529,0.291523,,,024802.51*5C

2021-08-15T02:48:02.408Z,1628995682.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.020004 m, bearing: 284.701300 deg, deltaT: 4.507519 s, approachRate: 0.532444 m/s, LOS rate: 14.358350 deg/s, posRepo size: 4
2021-08-15T02:48:04.842Z,1628995684.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:48:05.194Z,1628995685.194 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:48:05.194Z,1628995685.194 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:48:05.194Z,1628995685.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:48:05.195Z,1628995685.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:48:05.593Z,1628995685.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,00796,185,80,80,8C,FF
2021-08-15T02:48:05.593Z,1628995685.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:48:05.594Z,1628995685.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:48:05.612Z,1628995685.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:48:06.004Z,1628995686.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:48:06.410Z,1628995686.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4EF,000,007C2,189,80,80,72,FF
2021-08-15T02:48:06.410Z,1628995686.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:48:06.845Z,1628995686.845 [Micromodem](INFO): Nmea in: $SNTTA,0.158366,,,,024806.95*4B

2021-08-15T02:48:06.871Z,1628995686.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.659996 m, bearing: 207.938894 deg, deltaT: 4.352238 s, approachRate: 0.606583 m/s, LOS rate: -17.637456 deg/s, posRepo size: 4
2021-08-15T02:48:09.251Z,1628995689.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:48:09.657Z,1628995689.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:48:09.657Z,1628995689.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:48:09.657Z,1628995689.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:48:09.658Z,1628995689.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:48:10.041Z,1628995690.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4EF,000,007C2,189,80,80,72,FF
2021-08-15T02:48:10.041Z,1628995690.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:48:10.041Z,1628995690.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:48:10.043Z,1628995690.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:48:10.448Z,1628995690.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:48:10.857Z,1628995690.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,007EF,189,80,80,3F,FF
2021-08-15T02:48:10.858Z,1628995690.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:48:11.289Z,1628995691.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024811.38*5B

2021-08-15T02:48:11.312Z,1628995691.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.360001 m, bearing: 206.477206 deg, deltaT: 4.505265 s, approachRate: 0.599300 m/s, LOS rate: -0.324440 deg/s, posRepo size: 4
2021-08-15T02:48:13.734Z,1628995693.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:48:14.089Z,1628995694.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:48:14.089Z,1628995694.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:48:14.089Z,1628995694.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:48:14.090Z,1628995694.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:48:14.485Z,1628995694.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,007EF,189,80,80,3F,FF
2021-08-15T02:48:14.485Z,1628995694.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:48:14.485Z,1628995694.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:48:14.487Z,1628995694.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:48:14.919Z,1628995694.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:48:15.313Z,1628995695.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,0081D,185,80,80,65,FF
2021-08-15T02:48:15.314Z,1628995695.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:48:15.750Z,1628995695.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024815.82*5E

2021-08-15T02:48:15.776Z,1628995695.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.120003 m, bearing: 273.772068 deg, deltaT: 4.430595 s, approachRate: 0.622942 m/s, LOS rate: 15.188674 deg/s, posRepo size: 4
2021-08-15T02:48:18.189Z,1628995698.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:48:18.545Z,1628995698.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:48:18.545Z,1628995698.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:48:18.545Z,1628995698.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:48:18.546Z,1628995698.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:48:18.958Z,1628995698.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,0081D,185,80,80,65,FF
2021-08-15T02:48:18.958Z,1628995698.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:48:18.958Z,1628995698.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:48:18.960Z,1628995698.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:48:19.359Z,1628995699.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:48:19.755Z,1628995699.755 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0084C,189,80,80,66,FF
2021-08-15T02:48:19.755Z,1628995699.755 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:48:20.205Z,1628995700.205 [Micromodem](INFO): Nmea in: $SNTTA,,0.355343,,,024820.30*48

2021-08-15T02:48:20.255Z,1628995700.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.940002 m, bearing: 206.269391 deg, deltaT: 4.414482 s, approachRate: 0.638806 m/s, LOS rate: -15.291188 deg/s, posRepo size: 4
2021-08-15T02:48:22.626Z,1628995702.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:48:22.985Z,1628995702.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:48:22.985Z,1628995702.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:48:22.985Z,1628995702.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:48:22.986Z,1628995702.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:48:23.397Z,1628995703.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0084C,189,80,80,66,FF
2021-08-15T02:48:23.397Z,1628995703.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:48:23.397Z,1628995703.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:48:23.399Z,1628995703.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:48:23.817Z,1628995703.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:48:24.205Z,1628995704.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00879,185,80,80,7A,FF
2021-08-15T02:48:24.206Z,1628995704.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:48:24.209Z,1628995704.209 [Micromodem](INFO): Nmea in: $SNTTA,0.176711,0.177017,,,024824.74*55

2021-08-15T02:48:24.672Z,1628995704.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.639999 m, bearing: 267.579628 deg, deltaT: 4.502873 s, approachRate: 0.599617 m/s, LOS rate: 13.615805 deg/s, posRepo size: 4
2021-08-15T02:48:27.047Z,1628995707.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:48:27.437Z,1628995707.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:48:27.437Z,1628995707.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:48:27.437Z,1628995707.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:48:27.438Z,1628995707.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:48:27.843Z,1628995707.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,00879,185,80,80,7A,FF
2021-08-15T02:48:27.844Z,1628995707.844 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:48:27.845Z,1628995707.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:48:27.852Z,1628995707.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:48:28.253Z,1628995708.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:48:28.661Z,1628995708.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,427,000,008A7,188,80,80,77,FF
2021-08-15T02:48:28.662Z,1628995708.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:48:29.073Z,1628995709.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024829.19*53

2021-08-15T02:48:29.136Z,1628995709.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.400009 m, bearing: 217.778642 deg, deltaT: 4.438301 s, approachRate: 0.621862 m/s, LOS rate: -11.220732 deg/s, posRepo size: 4
2021-08-15T02:48:31.512Z,1628995711.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:48:31.916Z,1628995711.916 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:48:31.917Z,1628995711.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:48:31.917Z,1628995711.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:48:31.918Z,1628995711.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:48:32.291Z,1628995712.291 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
427,000,008A7,188,80,80,77,FF
2021-08-15T02:48:32.291Z,1628995712.291 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:48:32.292Z,1628995712.292 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:48:32.294Z,1628995712.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:48:32.704Z,1628995712.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:48:33.093Z,1628995713.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,008D5,187,80,80,69,FF
2021-08-15T02:48:33.093Z,1628995713.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:48:33.525Z,1628995713.525 [Micromodem](INFO): Nmea in: $SNTTA,0.342669,,,,024833.63*47

2021-08-15T02:48:33.572Z,1628995713.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.159996 m, bearing: 279.465960 deg, deltaT: 4.395109 s, approachRate: 0.627968 m/s, LOS rate: 14.035447 deg/s, posRepo size: 4
2021-08-15T02:48:36.025Z,1628995716.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:48:36.329Z,1628995716.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:48:36.329Z,1628995716.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:48:36.329Z,1628995716.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:48:36.330Z,1628995716.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:48:36.737Z,1628995716.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4F,000,008D5,187,80,80,69,FF
2021-08-15T02:48:36.737Z,1628995716.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:48:36.737Z,1628995716.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:48:36.739Z,1628995716.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:48:37.141Z,1628995717.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:48:37.553Z,1628995717.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,49E,000,00904,189,80,80,42,FF
2021-08-15T02:48:37.554Z,1628995717.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:48:37.981Z,1628995717.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024838.07*5C

2021-08-15T02:48:38.038Z,1628995718.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.980003 m, bearing: 211.575737 deg, deltaT: 4.486737 s, approachRate: 0.628521 m/s, LOS rate: -15.131313 deg/s, posRepo size: 4
2021-08-15T02:48:40.379Z,1628995720.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:48:40.865Z,1628995720.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:48:40.865Z,1628995720.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:48:40.866Z,1628995720.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:48:40.867Z,1628995720.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:48:41.177Z,1628995721.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
49E,000,00904,189,80,80,42,FF
2021-08-15T02:48:41.177Z,1628995721.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:48:41.177Z,1628995721.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:48:41.179Z,1628995721.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:48:41.579Z,1628995721.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:48:41.989Z,1628995721.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,00935,187,80,80,64,FF
2021-08-15T02:48:41.989Z,1628995721.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:48:42.429Z,1628995722.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024842.51*52

2021-08-15T02:48:42.453Z,1628995722.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.919998 m, bearing: 277.180606 deg, deltaT: 4.470880 s, approachRate: 0.657588 m/s, LOS rate: 14.673816 deg/s, posRepo size: 4
2021-08-15T02:48:44.875Z,1628995724.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:48:45.213Z,1628995725.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:48:45.214Z,1628995725.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:48:45.214Z,1628995725.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:48:45.215Z,1628995725.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:48:45.614Z,1628995725.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,00935,187,80,80,64,FF
2021-08-15T02:48:45.615Z,1628995725.615 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:48:45.615Z,1628995725.615 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:48:45.650Z,1628995725.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:48:46.029Z,1628995726.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:48:46.425Z,1628995726.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA9,000,00968,189,80,80,28,FF
2021-08-15T02:48:46.426Z,1628995726.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:48:46.849Z,1628995726.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024846.98*53

2021-08-15T02:48:46.909Z,1628995726.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.980003 m, bearing: 301.199895 deg, deltaT: 4.417909 s, approachRate: 0.692637 m/s, LOS rate: 5.436800 deg/s, posRepo size: 4
2021-08-15T02:48:49.263Z,1628995729.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:48:49.673Z,1628995729.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:48:49.673Z,1628995729.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:48:49.673Z,1628995729.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:48:49.674Z,1628995729.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:48:50.065Z,1628995730.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA9,000,00968,189,80,80,28,FF
2021-08-15T02:48:50.065Z,1628995730.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:48:50.065Z,1628995730.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:48:50.067Z,1628995730.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:48:50.472Z,1628995730.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:48:51.294Z,1628995731.294 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024851.40*50

2021-08-15T02:48:52.146Z,1628995732.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:48:52.893Z,1628995732.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,06498,186,80,80,40,FF
2021-08-15T02:48:52.893Z,1628995732.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:48:53.328Z,1628995733.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1507.619995 m, bearing: 293.552078 deg, deltaT: 6.454345 s, approachRate: 217.007309 m/s, LOS rate: -1.184910 deg/s, posRepo size: 4
2021-08-15T02:48:55.763Z,1628995735.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:48:56.125Z,1628995736.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:48:56.126Z,1628995736.126 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:48:56.126Z,1628995736.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:48:56.127Z,1628995736.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:48:56.521Z,1628995736.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,06498,186,80,80,40,FF
2021-08-15T02:48:56.521Z,1628995736.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:48:56.521Z,1628995736.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:48:56.523Z,1628995736.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:48:56.938Z,1628995736.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:48:57.345Z,1628995737.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFC,000,009D8,18A,80,80,45,FF
2021-08-15T02:48:57.345Z,1628995737.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:48:57.773Z,1628995737.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024857.86*5C

2021-08-15T02:48:57.799Z,1628995737.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.700005 m, bearing: 309.258125 deg, deltaT: 4.414471 s, approachRate: -315.761505 m/s, LOS rate: 3.557855 deg/s, posRepo size: 4
2021-08-15T02:49:00.211Z,1628995740.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:49:00.561Z,1628995740.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:49:00.561Z,1628995740.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:49:00.562Z,1628995740.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:49:00.562Z,1628995740.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:49:00.977Z,1628995740.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFC,000,009D8,18A,80,80,45,FF
2021-08-15T02:49:00.978Z,1628995740.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:49:00.978Z,1628995740.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:49:00.979Z,1628995740.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:49:01.377Z,1628995741.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:49:01.785Z,1628995741.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,00A05,189,80,80,68,FF
2021-08-15T02:49:01.786Z,1628995741.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:49:02.230Z,1628995742.230 [Micromodem](INFO): Nmea in: $SNTTA,0.083715,,,,024902.31*47

2021-08-15T02:49:02.270Z,1628995742.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.400002 m, bearing: 306.375293 deg, deltaT: 4.506609 s, approachRate: 0.599119 m/s, LOS rate: -0.639690 deg/s, posRepo size: 4
2021-08-15T02:49:04.677Z,1628995744.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:49:05.013Z,1628995745.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:49:05.013Z,1628995745.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:49:05.013Z,1628995745.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:49:05.014Z,1628995745.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:49:05.413Z,1628995745.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,00A05,189,80,80,68,FF
2021-08-15T02:49:05.413Z,1628995745.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:49:05.413Z,1628995745.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:49:05.415Z,1628995745.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:49:05.829Z,1628995745.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:49:06.234Z,1628995746.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9F,000,0046D,189,80,80,74,FF
2021-08-15T02:49:06.235Z,1628995746.235 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:49:06.673Z,1628995746.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024906.75*55

2021-08-15T02:49:06.727Z,1628995746.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.480000 m, bearing: 301.488430 deg, deltaT: 4.423649 s, approachRate: -19.422878 m/s, LOS rate: -1.104713 deg/s, posRepo size: 4
2021-08-15T02:49:07.076Z,1628995747.076 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T02:49:07.076Z,1628995747.076 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:49:07.076Z,1628995747.076 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T02:49:07.077Z,1628995747.077 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T02:49:07.077Z,1628995747.077 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T02:49:07.077Z,1628995747.077 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T02:49:07.469Z,1628995747.469 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T02:49:07.469Z,1628995747.469 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:49:07.469Z,1628995747.469 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T02:49:07.469Z,1628995747.469 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T02:49:09.076Z,1628995749.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:49:09.453Z,1628995749.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:49:09.453Z,1628995749.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:49:09.453Z,1628995749.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:49:09.454Z,1628995749.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:49:09.866Z,1628995749.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9F,000,0046D,189,80,80,74,FF
2021-08-15T02:49:09.866Z,1628995749.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:49:09.867Z,1628995749.867 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:49:09.874Z,1628995749.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:49:10.344Z,1628995750.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:49:10.744Z,1628995750.744 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,00A61,187,80,80,7C,FF
2021-08-15T02:49:10.745Z,1628995750.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:49:10.775Z,1628995750.775 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T02:49:11.177Z,1628995751.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024911.21*52

2021-08-15T02:49:11.193Z,1628995751.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.919998 m, bearing: 298.111365 deg, deltaT: 4.479252 s, approachRate: 20.414124 m/s, LOS rate: -0.753935 deg/s, posRepo size: 4
2021-08-15T02:49:11.569Z,1628995751.569 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T02:49:11.569Z,1628995751.569 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T02:49:11.570Z,1628995751.570 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T02:49:11.570Z,1628995751.570 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T02:49:11.570Z,1628995751.570 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T02:49:11.570Z,1628995751.570 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T02:49:12.029Z,1628995752.029 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T02:49:12.030Z,1628995752.030 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T02:49:12.030Z,1628995752.030 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T02:49:12.030Z,1628995752.030 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T02:49:13.588Z,1628995753.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:49:13.965Z,1628995753.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:49:13.965Z,1628995753.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:49:13.965Z,1628995753.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:49:13.966Z,1628995753.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:49:14.373Z,1628995754.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,00A61,187,80,80,7C,FF
2021-08-15T02:49:14.373Z,1628995754.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:49:14.374Z,1628995754.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:49:14.375Z,1628995754.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:49:14.777Z,1628995754.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:49:15.181Z,1628995755.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC8,000,00A90,189,80,80,8B,FF
2021-08-15T02:49:15.181Z,1628995755.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:49:15.639Z,1628995755.639 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024915.71*53

2021-08-15T02:49:15.693Z,1628995755.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.739998 m, bearing: 299.640699 deg, deltaT: 4.467203 s, approachRate: 0.631267 m/s, LOS rate: 0.342347 deg/s, posRepo size: 4
2021-08-15T02:49:18.061Z,1628995758.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:49:18.413Z,1628995758.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:49:18.413Z,1628995758.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:49:18.413Z,1628995758.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:49:18.414Z,1628995758.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:49:18.813Z,1628995758.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC8,000,00A90,189,80,80,8B,FF
2021-08-15T02:49:18.813Z,1628995758.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:49:18.813Z,1628995758.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:49:18.815Z,1628995758.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:49:19.225Z,1628995759.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:49:19.645Z,1628995759.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,00ABE,185,80,80,5C,FF
2021-08-15T02:49:19.646Z,1628995759.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:49:20.077Z,1628995760.077 [Micromodem](INFO): Nmea in: $SNTTA,0.097767,,,,024920.15*41

2021-08-15T02:49:20.142Z,1628995760.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.500000 m, bearing: 292.695626 deg, deltaT: 4.464392 s, approachRate: 0.618226 m/s, LOS rate: -1.555659 deg/s, posRepo size: 4
2021-08-15T02:49:22.467Z,1628995762.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:49:22.861Z,1628995762.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:49:22.861Z,1628995762.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:49:22.861Z,1628995762.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:49:22.862Z,1628995762.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:49:23.253Z,1628995763.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,00ABE,185,80,80,5C,FF
2021-08-15T02:49:23.253Z,1628995763.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:49:23.254Z,1628995763.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:49:23.255Z,1628995763.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:49:23.697Z,1628995763.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:49:24.089Z,1628995764.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,00AEC,186,80,80,71,FF
2021-08-15T02:49:24.089Z,1628995764.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:49:24.497Z,1628995764.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024924.59*5B

2021-08-15T02:49:24.533Z,1628995764.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.260010 m, bearing: 289.524014 deg, deltaT: 4.453902 s, approachRate: 0.619684 m/s, LOS rate: -0.712097 deg/s, posRepo size: 4
2021-08-15T02:49:26.938Z,1628995766.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:49:27.301Z,1628995767.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:49:27.301Z,1628995767.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:49:27.301Z,1628995767.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:49:27.302Z,1628995767.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:49:27.706Z,1628995767.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,00AEC,186,80,80,71,FF
2021-08-15T02:49:27.706Z,1628995767.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:49:27.706Z,1628995767.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:49:27.707Z,1628995767.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:49:28.114Z,1628995768.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:49:28.513Z,1628995768.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,00B16,187,80,80,55,FF
2021-08-15T02:49:28.513Z,1628995768.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:49:28.953Z,1628995768.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024929.04*5E

2021-08-15T02:49:28.990Z,1628995768.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.779999 m, bearing: 297.293874 deg, deltaT: 4.372794 s, approachRate: 0.576288 m/s, LOS rate: 1.776864 deg/s, posRepo size: 4
2021-08-15T02:49:31.355Z,1628995771.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:49:31.741Z,1628995771.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:49:31.741Z,1628995771.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:49:31.741Z,1628995771.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:49:31.742Z,1628995771.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:49:32.153Z,1628995772.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,00B16,187,80,80,55,FF
2021-08-15T02:49:32.154Z,1628995772.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:49:32.154Z,1628995772.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:49:32.155Z,1628995772.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:49:32.587Z,1628995772.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:49:33.378Z,1628995773.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024933.49*5C

2021-08-15T02:49:34.239Z,1628995774.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:49:35.781Z,1628995775.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,55,FF
2021-08-15T02:49:35.781Z,1628995775.781 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,55,FF
2021-08-15T02:49:35.781Z,1628995775.781 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:49:37.055Z,1628995777.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:49:37.408Z,1628995777.408 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:49:37.409Z,1628995777.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:49:37.410Z,1628995777.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:49:37.411Z,1628995777.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:49:37.801Z,1628995777.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,55,FF
2021-08-15T02:49:37.801Z,1628995777.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:49:37.802Z,1628995777.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:49:37.803Z,1628995777.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:49:38.232Z,1628995778.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:49:38.646Z,1628995778.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2B,000,00B7B,186,80,80,6E,FF
2021-08-15T02:49:38.647Z,1628995778.647 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:49:39.057Z,1628995779.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024939.14*5E

2021-08-15T02:49:39.098Z,1628995779.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.839996 m, bearing: 294.861179 deg, deltaT: 10.166941 s, approachRate: 0.596049 m/s, LOS rate: -0.239275 deg/s, posRepo size: 4
2021-08-15T02:49:41.486Z,1628995781.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:49:41.860Z,1628995781.860 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:49:41.861Z,1628995781.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:49:41.861Z,1628995781.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:49:41.863Z,1628995781.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:49:42.261Z,1628995782.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2B,000,00B7B,186,80,80,6E,FF
2021-08-15T02:49:42.261Z,1628995782.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:49:42.262Z,1628995782.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:49:42.263Z,1628995782.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:49:42.692Z,1628995782.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:49:43.077Z,1628995783.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,00BA8,186,80,80,54,FF
2021-08-15T02:49:43.077Z,1628995783.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:49:43.513Z,1628995783.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024943.60*50

2021-08-15T02:49:43.536Z,1628995783.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.540009 m, bearing: 292.669426 deg, deltaT: 4.448162 s, approachRate: 0.606995 m/s, LOS rate: -0.492732 deg/s, posRepo size: 4
2021-08-15T02:49:45.995Z,1628995785.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:49:46.297Z,1628995786.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:49:46.298Z,1628995786.298 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:49:46.298Z,1628995786.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:49:46.299Z,1628995786.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:49:46.701Z,1628995786.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,00BA8,186,80,80,54,FF
2021-08-15T02:49:46.701Z,1628995786.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:49:46.701Z,1628995786.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:49:46.703Z,1628995786.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:49:47.111Z,1628995787.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:49:47.517Z,1628995787.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E16,000,00BD3,186,80,80,50,FF
2021-08-15T02:49:47.517Z,1628995787.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:49:47.945Z,1628995787.945 [Micromodem](INFO): Nmea in: $SNTTA,0.193275,,,,024948.04*4C

2021-08-15T02:49:48.003Z,1628995788.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.120010 m, bearing: 295.783145 deg, deltaT: 4.389334 s, approachRate: 0.587789 m/s, LOS rate: 0.709383 deg/s, posRepo size: 4
2021-08-15T02:49:50.375Z,1628995790.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:49:50.745Z,1628995790.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:49:50.745Z,1628995790.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:49:50.745Z,1628995790.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:49:50.746Z,1628995790.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:49:51.150Z,1628995791.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E16,000,00BD3,186,80,80,50,FF
2021-08-15T02:49:51.150Z,1628995791.150 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:49:51.150Z,1628995791.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:49:51.152Z,1628995791.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:49:51.560Z,1628995791.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:49:51.965Z,1628995791.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,00C06,186,80,80,7F,FF
2021-08-15T02:49:51.966Z,1628995791.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:49:52.393Z,1628995792.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024952.49*5B

2021-08-15T02:49:52.428Z,1628995792.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.180008 m, bearing: 295.696921 deg, deltaT: 4.486045 s, approachRate: 0.682115 m/s, LOS rate: -0.019221 deg/s, posRepo size: 4
2021-08-15T02:49:54.837Z,1628995794.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:49:55.198Z,1628995795.198 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:49:55.198Z,1628995795.198 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:49:55.198Z,1628995795.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:49:55.199Z,1628995795.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:49:55.601Z,1628995795.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,00C06,186,80,80,7F,FF
2021-08-15T02:49:55.601Z,1628995795.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:49:55.601Z,1628995795.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:49:55.603Z,1628995795.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:49:56.004Z,1628995796.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:49:56.410Z,1628995796.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,00C30,186,80,80,8A,FF
2021-08-15T02:49:56.410Z,1628995796.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:49:56.837Z,1628995796.837 [Micromodem](INFO): Nmea in: $SNTTA,0.102087,,,,024956.94*4D

2021-08-15T02:49:56.926Z,1628995796.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.699997 m, bearing: 293.623849 deg, deltaT: 4.458793 s, approachRate: 0.565173 m/s, LOS rate: -0.464940 deg/s, posRepo size: 4
2021-08-15T02:49:59.278Z,1628995799.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:49:59.653Z,1628995799.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:49:59.653Z,1628995799.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:49:59.653Z,1628995799.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:49:59.654Z,1628995799.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:50:00.037Z,1628995800.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,00C30,186,80,80,8A,FF
2021-08-15T02:50:00.037Z,1628995800.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:50:00.037Z,1628995800.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:50:00.039Z,1628995800.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:50:00.457Z,1628995800.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:50:00.845Z,1628995800.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,00C5F,186,80,80,8A,FF
2021-08-15T02:50:00.846Z,1628995800.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:50:01.277Z,1628995801.277 [Micromodem](INFO): Nmea in: $SNTTA,0.103909,0.371082,,,025001.38*5E

2021-08-15T02:50:01.333Z,1628995801.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.520004 m, bearing: 295.432073 deg, deltaT: 4.463798 s, approachRate: 0.631751 m/s, LOS rate: 0.405086 deg/s, posRepo size: 4
2021-08-15T02:50:02.937Z,1628995802.937 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T02:50:03.733Z,1628995803.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:50:04.073Z,1628995804.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:50:04.074Z,1628995804.074 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:50:04.074Z,1628995804.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:50:04.075Z,1628995804.075 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:50:04.498Z,1628995804.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,00C5F,186,80,80,8A,FF
2021-08-15T02:50:04.498Z,1628995804.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:50:04.498Z,1628995804.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:50:04.501Z,1628995804.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:50:04.932Z,1628995804.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:50:05.294Z,1628995805.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,00C8D,186,80,80,8A,FF
2021-08-15T02:50:05.295Z,1628995805.295 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:50:05.729Z,1628995805.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025005.84*50

2021-08-15T02:50:05.771Z,1628995805.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.279999 m, bearing: 296.111896 deg, deltaT: 4.406548 s, approachRate: 0.626339 m/s, LOS rate: 0.154275 deg/s, posRepo size: 4
2021-08-15T02:50:07.745Z,1628995807.745 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T02:50:08.164Z,1628995808.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:50:08.533Z,1628995808.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:50:08.534Z,1628995808.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:50:08.534Z,1628995808.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:50:08.535Z,1628995808.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:50:08.974Z,1628995808.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,00C8D,186,80,80,8A,FF
2021-08-15T02:50:08.974Z,1628995808.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:50:08.974Z,1628995808.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:50:08.976Z,1628995808.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:50:09.350Z,1628995809.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:50:10.147Z,1628995810.147 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,00CBD,186,80,80,89,FF
2021-08-15T02:50:10.148Z,1628995810.148 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:50:10.155Z,1628995810.155 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025010.31*5A

2021-08-15T02:50:10.623Z,1628995810.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.160004 m, bearing: 295.286454 deg, deltaT: 4.863372 s, approachRate: 0.592183 m/s, LOS rate: -0.169726 deg/s, posRepo size: 4
2021-08-15T02:50:13.057Z,1628995813.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:50:13.379Z,1628995813.379 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:50:13.379Z,1628995813.379 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:50:13.379Z,1628995813.379 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:50:13.381Z,1628995813.381 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:50:13.789Z,1628995813.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,00CBD,186,80,80,89,FF
2021-08-15T02:50:13.789Z,1628995813.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:50:13.789Z,1628995813.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:50:13.791Z,1628995813.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:50:14.189Z,1628995814.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:50:14.596Z,1628995814.596 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,00CEF,186,80,80,89,FF
2021-08-15T02:50:14.597Z,1628995814.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:50:15.038Z,1628995815.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025015.13*5F

2021-08-15T02:50:15.122Z,1628995815.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.160004 m, bearing: 294.034808 deg, deltaT: 4.459512 s, approachRate: 0.672719 m/s, LOS rate: -0.280669 deg/s, posRepo size: 4
2021-08-15T02:50:17.451Z,1628995817.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:50:17.825Z,1628995817.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:50:17.825Z,1628995817.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:50:17.825Z,1628995817.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:50:17.826Z,1628995817.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:50:18.229Z,1628995818.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,00CEF,186,80,80,89,FF
2021-08-15T02:50:18.230Z,1628995818.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:50:18.230Z,1628995818.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:50:18.231Z,1628995818.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:50:18.651Z,1628995818.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:50:19.041Z,1628995819.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,00D1D,186,80,80,89,FF
2021-08-15T02:50:19.042Z,1628995819.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:50:19.473Z,1628995819.473 [Micromodem](INFO): Nmea in: $SNTTA,,0.234571,,,025019.57*4B

2021-08-15T02:50:19.496Z,1628995819.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.919998 m, bearing: 292.651012 deg, deltaT: 4.456783 s, approachRate: 0.619280 m/s, LOS rate: -0.310492 deg/s, posRepo size: 4
2021-08-15T02:50:21.893Z,1628995821.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:50:22.261Z,1628995822.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:50:22.262Z,1628995822.262 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:50:22.262Z,1628995822.262 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:50:22.263Z,1628995822.263 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:50:22.697Z,1628995822.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,00D1D,186,80,80,89,FF
2021-08-15T02:50:22.697Z,1628995822.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:50:22.698Z,1628995822.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:50:22.700Z,1628995822.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:50:23.072Z,1628995823.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:50:23.879Z,1628995823.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,00D51,186,80,80,8B,FF
2021-08-15T02:50:23.881Z,1628995823.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:50:23.888Z,1628995823.888 [Micromodem](INFO): Nmea in: $SNTTA,0.042057,,,,025024.04*41

2021-08-15T02:50:24.329Z,1628995824.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.040009 m, bearing: 293.318185 deg, deltaT: 4.841832 s, approachRate: 0.644386 m/s, LOS rate: 0.137793 deg/s, posRepo size: 4
2021-08-15T02:50:26.742Z,1628995826.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:50:27.114Z,1628995827.114 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:50:27.114Z,1628995827.114 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:50:27.114Z,1628995827.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:50:27.115Z,1628995827.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:50:27.517Z,1628995827.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,00D51,186,80,80,8B,FF
2021-08-15T02:50:27.517Z,1628995827.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:50:27.517Z,1628995827.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:50:27.519Z,1628995827.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:50:27.920Z,1628995827.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:50:28.361Z,1628995828.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,00D7D,186,80,80,88,FF
2021-08-15T02:50:28.362Z,1628995828.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:50:28.365Z,1628995828.365 [Micromodem](INFO): Nmea in: $SNTTA,0.292429,0.292347,,,025028.86*52

2021-08-15T02:50:28.772Z,1628995828.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.679993 m, bearing: 294.790282 deg, deltaT: 4.409711 s, approachRate: 0.598675 m/s, LOS rate: 0.333831 deg/s, posRepo size: 4
2021-08-15T02:50:31.205Z,1628995831.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T02:50:31.553Z,1628995831.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:50:31.553Z,1628995831.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:50:31.553Z,1628995831.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:50:31.554Z,1628995831.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:50:31.963Z,1628995831.963 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,00D7D,186,80,80,88,FF
2021-08-15T02:50:31.963Z,1628995831.963 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:50:31.963Z,1628995831.963 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:50:31.965Z,1628995831.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:50:32.368Z,1628995832.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:50:32.774Z,1628995832.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5E,000,00D7D,186,80,80,88,FF
2021-08-15T02:50:32.774Z,1628995832.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:50:32.783Z,1628995832.783 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:50:32.795Z,1628995832.795 [lineCaptureDepth](INFO): Timed out from 2021-08-15T01:50:32.8Z
2021-08-15T02:50:32.796Z,1628995832.796 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-15T02:50:32.796Z,1628995832.796 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-15T02:50:32.796Z,1628995832.796 [lineCaptureDepth] Stopped
2021-08-15T02:50:32.796Z,1628995832.796 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-15T02:50:32.796Z,1628995832.796 [lineCaptureDepth:Science] Stopped
2021-08-15T02:50:32.797Z,1628995832.797 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-15T02:50:32.797Z,1628995832.797 [lineCaptureDepth:Science:B] Stopped
2021-08-15T02:50:32.797Z,1628995832.797 [lineCaptureDepth:Science:C] Stopped
2021-08-15T02:50:32.797Z,1628995832.797 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-15T02:50:32.797Z,1628995832.797 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-15T02:50:32.797Z,1628995832.797 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-15T02:50:32.797Z,1628995832.797 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-15T02:50:32.797Z,1628995832.797 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-15T02:50:32.798Z,1628995832.798 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-15T02:50:32.798Z,1628995832.798 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-15T02:50:32.798Z,1628995832.798 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-15T02:50:32.798Z,1628995832.798 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-15T02:50:32.798Z,1628995832.798 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-15T02:50:32.798Z,1628995832.798 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-15T02:50:32.798Z,1628995832.798 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-15T02:50:32.798Z,1628995832.798 [lineCaptureDepth:TrackAC.] Stopped
2021-08-15T02:50:32.798Z,1628995832.798 [lineCaptureDepth:LineCapture] Stopped
2021-08-15T02:50:32.799Z,1628995832.799 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-15T02:50:32.799Z,1628995832.799 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-15T02:50:32.799Z,1628995832.799 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-15T02:50:32.799Z,1628995832.799 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-15T02:50:32.799Z,1628995832.799 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-15T02:50:32.799Z,1628995832.799 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-15T02:50:32.799Z,1628995832.799 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-15T02:50:32.799Z,1628995832.799 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-15T02:50:32.800Z,1628995832.800 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-15T02:50:32.800Z,1628995832.800 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-15T02:50:32.800Z,1628995832.800 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-15T02:50:32.800Z,1628995832.800 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T02:50:32.800Z,1628995832.800 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T02:50:32.801Z,1628995832.801 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T02:50:32.801Z,1628995832.801 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T02:50:32.801Z,1628995832.801 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T02:50:32.801Z,1628995832.801 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T02:50:32.801Z,1628995832.801 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T02:50:32.801Z,1628995832.801 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-15T02:50:32.801Z,1628995832.801 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-15T02:50:32.801Z,1628995832.801 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-15T02:50:32.801Z,1628995832.801 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T02:50:32.801Z,1628995832.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-15T02:50:32.802Z,1628995832.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T02:50:32.802Z,1628995832.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-15T02:50:32.802Z,1628995832.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T02:50:32.802Z,1628995832.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-15T02:50:32.802Z,1628995832.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-15T02:50:32.802Z,1628995832.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-15T02:50:32.802Z,1628995832.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-15T02:50:32.802Z,1628995832.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T02:50:32.803Z,1628995832.803 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-15T02:50:32.803Z,1628995832.803 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T02:50:32.803Z,1628995832.803 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-15T02:50:32.803Z,1628995832.803 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T02:50:32.803Z,1628995832.803 [lineCaptureDepth:Lap] Stopped
2021-08-15T02:50:32.803Z,1628995832.803 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-15T02:50:32.804Z,1628995832.804 [lineCaptureDepth:Lap:B] Stopped
2021-08-15T02:50:32.804Z,1628995832.804 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-15T02:50:32.968Z,1628995832.968 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-15T02:50:33.195Z,1628995833.195 [Micromodem](INFO): Nmea in: $SNTTA,0.117269,,,,025033.30*4E

2021-08-15T02:50:33.263Z,1628995833.263 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-15T02:50:33.263Z,1628995833.263 [DefaultWithUndock] Running Loop=1
2021-08-15T02:50:33.263Z,1628995833.263 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-15T02:50:33.263Z,1628995833.263 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-15T02:50:33.268Z,1628995833.268 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-15T02:50:47.733Z,1628995847.733 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:50:53.010Z,1628995853.010 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T02:51:03.481Z,1628995863.481 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-15T02:51:03.482Z,1628995863.482 [DefaultWithUndock:A.Wait] Stopped
2021-08-15T02:51:03.482Z,1628995863.482 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T02:51:03.482Z,1628995863.482 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-15T02:51:03.482Z,1628995863.482 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-15T02:51:03.482Z,1628995863.482 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-15T02:51:03.482Z,1628995863.482 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-15T02:51:03.483Z,1628995863.483 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-15T02:51:03.483Z,1628995863.483 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-15T02:51:03.483Z,1628995863.483 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T02:51:04.276Z,1628995864.276 [PowerOnly](INFO): Powering up loadControl
2021-08-15T02:51:06.338Z,1628995866.338 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T02:51:06.829Z,1628995866.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:51:06.829Z,1628995866.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:51:06.829Z,1628995866.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:51:06.830Z,1628995866.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:51:06.866Z,1628995866.866 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-15T02:51:07.169Z,1628995867.169 [DUSBL_Hydroid](INFO): DUSBL response received:,00DAC,186,80,80,85,FF
!U1,P
,88,FF
2021-08-15T02:51:07.169Z,1628995867.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:51:07.169Z,1628995867.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:51:07.171Z,1628995867.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:51:07.316Z,1628995867.316 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-15T02:51:07.576Z,1628995867.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:51:07.613Z,1628995867.613 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-15T02:51:08.007Z,1628995868.007 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 2.95 mm.
2021-08-15T02:51:08.017Z,1628995868.017 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-15T02:51:08.371Z,1628995868.371 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,00E45,186,80,80,9A,FF
2021-08-15T02:51:08.372Z,1628995868.372 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:51:08.375Z,1628995868.375 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025108.51*54

2021-08-15T02:51:11.245Z,1628995871.245 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T02:51:11.601Z,1628995871.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:51:11.601Z,1628995871.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:51:11.601Z,1628995871.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:51:11.602Z,1628995871.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:51:12.009Z,1628995872.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,00E45,186,80,80,9A,FF
2021-08-15T02:51:12.010Z,1628995872.010 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:51:12.010Z,1628995872.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:51:12.011Z,1628995872.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:51:12.413Z,1628995872.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:51:12.828Z,1628995872.828 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T02:51:13.233Z,1628995873.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,00E51,188,80,80,8F,FF
2021-08-15T02:51:13.233Z,1628995873.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:51:13.236Z,1628995873.236 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025113.35*5C

2021-08-15T02:51:16.057Z,1628995876.057 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T02:51:16.457Z,1628995876.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:51:16.457Z,1628995876.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:51:16.458Z,1628995876.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:51:16.459Z,1628995876.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:51:16.855Z,1628995876.855 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,00E51,188,80,80,8F,FF
2021-08-15T02:51:16.855Z,1628995876.855 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:51:16.856Z,1628995876.856 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:51:16.858Z,1628995876.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:51:17.265Z,1628995877.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:51:17.717Z,1628995877.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,299,000,00E51,189,80,80,77,FF
2021-08-15T02:51:17.718Z,1628995877.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:51:18.093Z,1628995878.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025118.20*53

2021-08-15T02:51:20.506Z,1628995880.506 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T02:51:20.907Z,1628995880.907 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:51:20.912Z,1628995880.912 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:51:20.913Z,1628995880.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:51:20.914Z,1628995880.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:51:21.305Z,1628995881.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
299,000,00E51,189,80,80,77,FF
2021-08-15T02:51:21.306Z,1628995881.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:51:21.306Z,1628995881.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:51:21.308Z,1628995881.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:51:21.705Z,1628995881.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:51:22.954Z,1628995882.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025122.70*5F

2021-08-15T02:51:23.027Z,1628995883.027 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T02:51:23.317Z,1628995883.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,0375A,187,80,80,A3,FF
2021-08-15T02:51:23.318Z,1628995883.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T02:51:26.158Z,1628995886.158 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T02:51:26.549Z,1628995886.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T02:51:26.549Z,1628995886.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T02:51:26.549Z,1628995886.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T02:51:26.550Z,1628995886.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T02:51:26.977Z,1628995886.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,0375A,187,80,80,A3,FF
2021-08-15T02:51:26.977Z,1628995886.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T02:51:26.978Z,1628995886.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T02:51:26.979Z,1628995886.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T02:51:27.357Z,1628995887.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T02:51:28.174Z,1628995888.174 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025128.32*53

2021-08-15T02:51:28.189Z,1628995888.189 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 812.70 m. Transitioning DDM to standby.
2021-08-15T02:51:29.033Z,1628995889.033 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T02:51:30.589Z,1628995890.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,187,80,80,A3,FF
2021-08-15T02:51:30.589Z,1628995890.589 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,187,80,80,A3,FF
2021-08-15T02:51:30.589Z,1628995890.589 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T02:51:31.066Z,1628995891.066 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-15T02:51:31.408Z,1628995891.408 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-15T02:51:31.408Z,1628995891.408 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-15T02:51:31.409Z,1628995891.409 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-15T02:51:31.409Z,1628995891.409 [DefaultWithUndock:LeaveDock] Stopped
2021-08-15T02:51:31.409Z,1628995891.409 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-15T02:51:31.409Z,1628995891.409 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-15T02:51:31.410Z,1628995891.410 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-15T02:51:31.410Z,1628995891.410 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-15T02:51:31.410Z,1628995891.410 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-15T02:51:31.410Z,1628995891.410 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-15T02:51:31.410Z,1628995891.410 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-15T02:51:31.410Z,1628995891.410 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-15T02:51:31.410Z,1628995891.410 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-15T02:51:31.410Z,1628995891.410 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-15T02:51:31.411Z,1628995891.411 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-15T02:51:31.411Z,1628995891.411 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-15T02:51:31.411Z,1628995891.411 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-15T02:51:31.411Z,1628995891.411 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-15T02:51:31.412Z,1628995891.412 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-15T02:51:32.213Z,1628995892.213 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm (2 active estimators).
2021-08-15T02:51:32.292Z,1628995892.292 [Radio_Surface](INFO): Powering up
2021-08-15T02:51:37.957Z,1628995897.957 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-15T02:52:02.538Z,1628995922.538 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-15T02:52:02.538Z,1628995922.538 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T02:52:02.538Z,1628995922.538 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-15T02:52:02.538Z,1628995922.538 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-15T02:52:02.538Z,1628995922.538 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-15T02:52:02.538Z,1628995922.538 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-15T02:52:02.538Z,1628995922.538 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-15T02:52:07.793Z,1628995927.793 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T02:52:08.080Z,1628995928.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T02:52:13.036Z,1628995933.036 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:52:21.463Z,1628995941.463 [NAL9602](INFO): SBD MO Status=0, MOMSN=24001, MT Status=0, MTMSN=0
2021-08-15T02:52:21.463Z,1628995941.463 [NAL9602](INFO): No messages in MT queue
2021-08-15T02:52:22.683Z,1628995942.683 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,025223.00,A,4133.22031,N,07042.57080,W,0.758,139.53,150821,,,A*7C
2021-08-15T02:52:22.685Z,1628995942.685 [NAL9602](INFO): GPS fix at 20210815T025223: (41.553672, -70.709513)
2021-08-15T02:52:22.751Z,1628995942.751 [UniversalFixResidualReporter](INFO): Fix residual: 5.8 %DT, over the last 2442.3 m. Residual distance 142.8 m at bearing 53.8 degrees. Fix at (41.5537, -70.7095) with 126.9 m made good.
2021-08-15T02:52:22.752Z,1628995942.752 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-15T02:52:22.753Z,1628995942.753 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-15T02:52:33.787Z,1628995953.787 [NAL9602](INFO): SBD MO Status=1, MOMSN=24002, MT Status=0, MTMSN=0
2021-08-15T02:52:33.848Z,1628995953.848 [NAL9602](INFO): Sent 88 bytes from file Logs/20210814T221742/Courier0063.lzma
2021-08-15T02:52:33.848Z,1628995953.848 [NAL9602](INFO): Packets left to send: 0
2021-08-15T02:52:37.446Z,1628995957.446 [PowerOnly](INFO): Powering down loadControl
2021-08-15T02:52:43.224Z,1628995963.224 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T02:52:45.515Z,1628995965.515 [NAL9602](INFO): SBD MO Status=1, MOMSN=24003, MT Status=0, MTMSN=0
2021-08-15T02:52:45.576Z,1628995965.576 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0049.lzma
2021-08-15T02:52:45.576Z,1628995965.576 [NAL9602](INFO): Packets left to send: 2
2021-08-15T02:52:55.983Z,1628995975.983 [NAL9602](INFO): SBD MO Status=1, MOMSN=24004, MT Status=0, MTMSN=0
2021-08-15T02:52:56.040Z,1628995976.040 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0049.lzma
2021-08-15T02:52:56.040Z,1628995976.040 [NAL9602](INFO): Packets left to send: 1
2021-08-15T02:53:12.059Z,1628995992.059 [NAL9602](INFO): SBD MO Status=2, MOMSN=24005, MT Status=2, MTMSN=0
2021-08-15T02:53:12.060Z,1628995992.060 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-15T02:53:18.364Z,1628995998.364 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T02:53:33.567Z,1628996013.567 [NAL9602](INFO): SBD MO Status=2, MOMSN=24005, MT Status=2, MTMSN=0
2021-08-15T02:53:33.567Z,1628996013.567 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-15T02:53:53.505Z,1628996033.505 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T02:54:00.609Z,1628996040.609 [NAL9602](INFO): SBD MO Status=2, MOMSN=24005, MT Status=2, MTMSN=0
2021-08-15T02:54:00.609Z,1628996040.609 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-15T02:54:28.644Z,1628996068.644 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T02:54:30.140Z,1628996070.140 [NAL9602](INFO): SBD MO Status=1, MOMSN=24005, MT Status=0, MTMSN=0
2021-08-15T02:54:30.192Z,1628996070.192 [NAL9602](INFO): Sent 83 bytes from file Logs/20210814T221742/Express0049.lzma
2021-08-15T02:54:30.192Z,1628996070.192 [NAL9602](INFO): Packets left to send: 0
2021-08-15T02:54:38.734Z,1628996078.734 [NAL9602](INFO): SBD MO Status=1, MOMSN=24006, MT Status=0, MTMSN=0
2021-08-15T02:54:38.786Z,1628996078.786 [NAL9602](INFO): Sent 61 bytes from file Logs/20210814T221742/Express0052.lzma
2021-08-15T02:54:38.786Z,1628996078.786 [NAL9602](INFO): Packets left to send: 0
2021-08-15T02:54:55.235Z,1628996095.235 [NAL9602](INFO): SBD MO Status=2, MOMSN=24007, MT Status=2, MTMSN=0
2021-08-15T02:54:55.236Z,1628996095.236 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-15T02:54:57.768Z,1628996097.768 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003133
2021-08-15T02:55:01.784Z,1628996101.784 [DataOverHttps](INFO): Sending 382 bytes from file Logs/20210814T221742/Express0055.lzma
2021-08-15T02:55:02.786Z,1628996102.786 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Express0055.lzma.bak
2021-08-15T02:55:02.786Z,1628996102.786 [DataOverHttps](INFO): SBD MOMSN=440324
2021-08-15T02:55:11.824Z,1628996111.824 [DataOverHttps](INFO): Sending 132 bytes from file Logs/20210814T221742/Express0058.lzma
2021-08-15T02:55:12.842Z,1628996112.842 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Express0058.lzma.bak
2021-08-15T02:55:12.846Z,1628996112.846 [DataOverHttps](INFO): SBD MOMSN=440339
2021-08-15T02:55:18.612Z,1628996118.612 [NAL9602](INFO): SBD MO Status=1, MOMSN=24007, MT Status=0, MTMSN=0
2021-08-15T02:55:18.668Z,1628996118.668 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T221742/Express0055.lzma
2021-08-15T02:55:18.668Z,1628996118.668 [NAL9602](INFO): Packets left to send: 2
2021-08-15T02:55:21.865Z,1628996121.865 [DataOverHttps](INFO): Sending 598 bytes from file Logs/20210814T221742/Express0061.lzma
2021-08-15T02:55:22.870Z,1628996122.870 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Express0061.lzma.bak
2021-08-15T02:55:22.871Z,1628996122.871 [DataOverHttps](INFO): SBD MOMSN=440353
2021-08-15T02:55:31.936Z,1628996131.936 [DataOverHttps](INFO): Sending 509 bytes from file Logs/20210814T221742/Express0064.lzma
2021-08-15T02:55:32.922Z,1628996132.922 [DataOverHttps](INFO): Moved sent file to Logs/20210814T221742/Express0064.lzma.bak
2021-08-15T02:55:32.922Z,1628996132.922 [DataOverHttps](INFO): SBD MOMSN=440361
2021-08-15T02:55:33.151Z,1628996133.151 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:55:34.776Z,1628996134.776 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-15T02:55:34.776Z,1628996134.776 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-15T02:55:34.776Z,1628996134.776 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-15T02:55:43.264Z,1628996143.264 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T02:55:49.314Z,1628996149.314 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T02:55:52.965Z,1628996152.965 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:56:03.058Z,1628996163.058 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T02:56:03.859Z,1628996163.859 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T02:56:03.864Z,1628996163.864 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815025604.133380,06,1290,25,0129,0150,149,01,01,01,01,-1,-01,-01,1,3,7,0,150,23.9,0.13,-100,2.87,-01,1.76,57,14500,4000*78

2021-08-15T02:56:07.955Z,1628996167.955 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:56:13.158Z,1628996173.158 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T02:56:13.162Z,1628996173.162 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T02:56:23.271Z,1628996183.271 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T02:56:23.277Z,1628996183.277 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T02:56:24.053Z,1628996184.053 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T02:56:24.054Z,1628996184.054 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T02:56:24.055Z,1628996184.055 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T02:56:24.458Z,1628996184.458 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815025624.153182,06,219,23,0123,0150,194,02,02,00,02,-1,-01,-01,1,3,5,0,150,78.7,-2.13,-100,5.13,-01,-4.53,-12,14500,4000*66

2021-08-15T02:56:33.755Z,1628996193.755 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T02:56:33.769Z,1628996193.769 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815025634.142977,06,915,23,0139,0150,194,02,02,01,02,-1,-01,-01,1,3,5,0,150,10.4,-0.11,-100,3.11,-01,-2.35,61,14500,4000*4E

2021-08-15T02:56:43.063Z,1628996203.063 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T02:57:01.242Z,1628996221.242 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T02:57:39.607Z,1628996259.607 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-15T02:57:39.612Z,1628996259.612 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815025738.145690,06,763,22,0102,0150,07,01,01,01,01,4,-01,-01,2,3,1,0,150,-21.6,13.31,-100,-10.31,-01,-2.27,43,14500,4000*7D

2021-08-15T02:57:59.416Z,1628996279.416 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-15T02:57:59.423Z,1628996279.423 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815025758.139344,06,644,22,0100,0150,52,01,01,01,01,5,-01,-01,2,3,4,0,150,8.1,-346.54,-100,-305.82,-01,0.00,43,14500,4000*67

2021-08-15T02:58:01.819Z,1628996281.819 [Micromodem](INFO): Nmea in: $CAMSG,Error accessing coproc,4*51

2021-08-15T02:58:01.824Z,1628996281.824 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815025802.145452,06,142,21,0109,0150,208,02,02,00,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,14500,4000*59

2021-08-15T02:58:19.600Z,1628996299.600 [Micromodem](INFO): Nmea in: $CAMSG,Error accessing coproc,4*51

2021-08-15T02:58:19.605Z,1628996299.605 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815025820.128686,06,759,22,0218,0150,149,01,01,01,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,14500,4000*51

2021-08-15T02:58:27.282Z,1628996307.282 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T02:58:27.283Z,1628996307.283 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T02:58:27.286Z,1628996307.286 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T02:58:27.679Z,1628996307.679 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815025826.128836,06,989,23,0090,0150,208,02,02,01,02,-1,-01,-01,1,3,4,0,150,80.2,12.20,-100,-9.20,-01,-0.17,-12,14500,4000*56

2021-08-15T02:58:31.728Z,1628996311.728 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T02:58:31.728Z,1628996311.728 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T02:58:31.730Z,1628996311.730 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T02:58:32.122Z,1628996312.122 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815025832.128816,06,223,17,0104,0150,194,00,00,01,00,-1,-01,-01,1,3,7,0,150,62.0,2.35,-100,0.65,-01,0.54,00,14500,4000*4C

2021-08-15T02:59:47.671Z,1628996387.671 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T02:59:47.675Z,1628996387.675 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815025948.136334,06,668,22,0129,0150,82,03,03,01,03,-1,-01,-01,1,3,7,0,150,9.9,0.15,-100,2.85,-01,-0.58,57,14500,4000*68

2021-08-15T03:00:03.827Z,1628996403.827 [Micromodem](INFO): Nmea in: $CAMSG,Error accessing coproc,4*51

2021-08-15T03:00:03.832Z,1628996403.832 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815030004.154006,06,184,22,0116,0150,149,03,03,00,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,14500,4000*56

2021-08-15T03:00:09.492Z,1628996409.492 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T03:00:09.918Z,1628996409.918 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815030010.151377,06,808,23,0188,0150,149,01,01,01,01,-1,-01,-01,1,3,1,0,150,21.7,0.11,-100,2.89,-01,-0.29,58,14500,4000*6B

2021-08-15T03:00:20.133Z,1628996420.133 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T030021
2021-08-15T03:00:24.151Z,1628996424.151 [DataOverHttps](INFO): Received command:restart logs